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+05/15 01:59:27 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/15 01:59:27 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
+05/15 01:59:27 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/15 01:59:27 INFO: {'batch_num': 1,
+ 'benchmark_path': None,
+ 'camera_config': {'cameras': [{'fov': 56.74,
+                                'fov_noise_degrees': None,
+                                'is_warped': False,
+                                'mjcf_name': 'gripper/wrist_camera',
+                                'name': 'wrist_camera',
+                                'orientation_noise_degrees': None,
+                                'pos_noise_range': None,
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'robot_namespace': 'robot_0/',
+                                'skip_erosion': False,
+                                'visibility_constraints': None},
+                               {'camera_offset': [-0.3063767985191294,
+                                                  0.41898548410680353,
+                                                  0.6558403226398233],
+                                'camera_quaternion': [0.3798949547479566,
+                                                      0.29653985043683495,
+                                                      -0.501112681562358,
+                                                      -0.7187697968315937],
+                                'fov': 71.0,
+                                'is_warped': False,
+                                'lookat_noise_range': None,
+                                'lookat_offset': [0.0, 0.0, 0.08],
+                                'name': 'exo_camera_1',
+                                'orientation_noise_degrees': 5.0,
+                                'pos_noise_range': (-0.05, 0.05),
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'reference_body_names': ['robot_0/fr3_link0'],
+                                'skip_erosion': False,
+                                'up_axis': 'z',
+                                'visibility_constraints': None}],
+                   'img_resolution': (1280, 720)},
+ 'collision_free_pose_limit': 3,
+ 'config_version': '0.1',
+ 'ctrl_dt_ms': 2.0,
+ 'data_split': 'train',
+ 'datagen_profiler': True,
+ 'end_on_success': False,
+ 'environment_light_intensity': 15000.0,
+ 'eval_runtime_params': {'add_custom_object': False,
+                         'custom_object_name': None,
+                         'custom_object_path': None,
+                         'episode_idx': None},
+ 'filter_for_successful_trajectories': True,
+ 'log_level': 'info',
+ 'num_envs': 1,
+ 'num_workers': 1,
+ 'output_dir': PosixPath('/scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_307'),
+ 'output_suffix': '_cam_rand',
+ 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
+                   'policy_type': 'planner'},
+ 'policy_dt_ms': 66.0,
+ 'profile': True,
+ 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x7a01d967ce50>,
+ 'robot_config': {'K_damping': [793.0831592413665,
+                                241.62769618042807,
+                                300.12442783719814,
+                                440.9812092338339,
+                                500.000000000004,
+                                311.89516163317654,
+                                500.000000000004],
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+                                  1060.4599870990814,
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+                                  2282.7973699783515,
+                                  2963.6502662461776,
+                                  1843.22950428842,
+                                  2505.657053829795],
+                  'action_noise_config': {'action_scale_factor': 0.1,
+                                          'base_action_scale_factor': 0.1,
+                                          'enabled': True,
+                                          'max_base_position_noise': 0.02,
+                                          'max_base_rotation_noise': 0.05,
+                                          'max_tcp_position_noise': 0.02,
+                                          'max_tcp_rotation_noise': 0.1,
+                                          'rotation_noise_scale': 0.1},
+                  'command_mode': {'arm': 'joint_position',
+                                   'gripper': 'joint_position'},
+                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
+                  'gravcomp': True,
+                  'init_qpos': {'arm': [0,
+                                        -0.7853,
+                                        0,
+                                        -2.35619,
+                                        0,
+                                        1.57079,
+                                        0.0],
+                                'gripper': [0.00296, 0.00296]},
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+                                                    0.4,
+                                                    0.4,
+                                                    0.4,
+                                                    0.4,
+                                                    0.4,
+                                                    0.4]},
+                  'name': 'franka_droid',
+                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_namespace': 'robot_0/',
+                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
+                  'robot_xml_path': PosixPath('model.xml')},
+ 'save_depth_mp4': False,
+ 'scene_dataset': 'ithor_minimal_fridge_m',
+ 'seed': 80701,
+ 'shared_output_dir': True,
+ 'sim_dt_ms': 2.0,
+ 'task_config': {'action_dtype': 'float32',
+                 'added_objects': {},
+                 'any_inst_of_category': True,
+                 'articulation_object_name': None,
+                 'enable_rendering': True,
+                 'joint_goal_position': None,
+                 'joint_index': 0,
+                 'joint_name': None,
+                 'joint_start_position': None,
+                 'object_poses': None,
+                 'pickup_obj_goal_pose': None,
+                 'pickup_obj_name': None,
+                 'pickup_obj_start_pose': None,
+                 'place_target_name': None,
+                 'receptacle_name': None,
+                 'referral_expressions': {},
+                 'referral_expressions_priority': {},
+                 'robot_base_pose': None,
+                 'succ_pos_threshold': 0.01,
+                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
+                 'task_success_threshold': 0.15,
+                 'tracked_object_names': None,
+                 'use_sensors': True},
+ 'task_config_preset': None,
+ 'task_config_preset_exp': None,
+ 'task_config_preset_scn': None,
+ 'task_horizon': 300,
+ 'task_sampler_config': {'absolute_robot_base_z': 0.86,
+                         'absolute_robot_base_z_jitter_range': (-0.1, 0.1),
+                         'added_pickup_class_max_uids': None,
+                         'added_pickup_class_rank': None,
+                         'added_pickup_namespace': 'pickup/',
+                         'added_pickup_objects': None,
+                         'base_pose_sampling_radius_range': (0.8, 1.2),
+                         'base_pose_sampling_theta_range_rad': (-0.5, 1.0),
+                         'check_robot_placement_visibility': True,
+                         'dataset_name': 'procthor-10k',
+                         'enable_texture_randomization': False,
+                         'episodes_per_added_pickup': 1,
+                         'fixed_joint_index': 1,
+                         'fixed_object_instance_index': [1],
+                         'house_inds': [1],
+                         'load_robot_from_file': True,
+                         'max_added_pickup_placement_attempts': 100,
+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 100,
+                         'max_allowed_sequential_task_sampler_failures': 100,
+                         'max_asset_failures': 10,
+                         'max_object_placement_attempts': 200,
+                         'max_receptacle_attempts': 10,
+                         'max_reference_to_added_pickup_dist': 0.5,
+                         'max_robot_placement_attempts': 10,
+                         'max_robot_to_added_pickup_dist': 0.7,
+                         'max_robot_to_obj_dist': 0.6,
+                         'max_robot_to_target_dist': 0.6,
+                         'max_tasks': inf,
+                         'max_total_attempts_multiplier': 6,
+                         'min_object_separation': 0.05,
+                         'min_reference_to_added_pickup_dist': 0.15,
+                         'num_added_pickups': 30,
+                         'objaverse_oversampling_factor': 30,
+                         'object_placement_radius_range': (0.1, 0.8),
+                         'pickup_obj_name': None,
+                         'pickup_types': ['fridge'],
+                         'place_target_name': None,
+                         'placement_robot_height': 1.4,
+                         'placement_volume_name': None,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'receptacle_name': None,
+                         'receptacle_types': ('ArmChair',
+                                              'Bed',
+                                              'Chair',
+                                              'CoffeeTable',
+                                              'CounterTop',
+                                              'Desk',
+                                              'DiningTable',
+                                              'Dresser',
+                                              'Shelf',
+                                              'SideTable',
+                                              'Sofa',
+                                              'Stool',
+                                              'TVStand'),
+                         'robot_object_z_offset': -1.0,
+                         'robot_object_z_offset_random_max': 0,
+                         'robot_object_z_offset_random_min': 0,
+                         'robot_placement_exclusion_threshold': 0.0,
+                         'robot_placement_radius_range': (0.3, 0.8),
+                         'robot_placement_rotation_range_rad': 0.5,
+                         'robot_safety_radius': 0.15,
+                         'samples_per_house': 3,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'target_initial_state_open_percentage': 0.0,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'open',
+ 'total_batches': 3,
+ 'use_filament': False,
+ 'use_passive_viewer': False,
+ 'use_viser': False,
+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'viewer_camera': None,
+ 'viser_port': 8080,
+ 'wandb_name': None,
+ 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
+05/15 01:59:27 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/15 01:59:27 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/15 01:59:27 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/15 01:59:28 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/15 01:59:28 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
+05/15 01:59:28 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/15 01:59:28 INFO: {'batch_num': 3,
+ 'benchmark_path': None,
+ 'camera_config': {'cameras': [{'fov': 56.74,
+                                'fov_noise_degrees': None,
+                                'is_warped': False,
+                                'mjcf_name': 'gripper/wrist_camera',
+                                'name': 'wrist_camera',
+                                'orientation_noise_degrees': None,
+                                'pos_noise_range': None,
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'robot_namespace': 'robot_0/',
+                                'skip_erosion': False,
+                                'visibility_constraints': None},
+                               {'camera_offset': [-0.3063767985191294,
+                                                  0.41898548410680353,
+                                                  0.6558403226398233],
+                                'camera_quaternion': [0.3798949547479566,
+                                                      0.29653985043683495,
+                                                      -0.501112681562358,
+                                                      -0.7187697968315937],
+                                'fov': 71.0,
+                                'is_warped': False,
+                                'lookat_noise_range': None,
+                                'lookat_offset': [0.0, 0.0, 0.08],
+                                'name': 'exo_camera_1',
+                                'orientation_noise_degrees': 5.0,
+                                'pos_noise_range': (-0.05, 0.05),
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'reference_body_names': ['robot_0/fr3_link0'],
+                                'skip_erosion': False,
+                                'up_axis': 'z',
+                                'visibility_constraints': None}],
+                   'img_resolution': (1280, 720)},
+ 'collision_free_pose_limit': 3,
+ 'config_version': '0.1',
+ 'ctrl_dt_ms': 2.0,
+ 'data_split': 'train',
+ 'datagen_profiler': True,
+ 'end_on_success': False,
+ 'environment_light_intensity': 15000.0,
+ 'eval_runtime_params': {'add_custom_object': False,
+                         'custom_object_name': None,
+                         'custom_object_path': None,
+                         'episode_idx': None},
+ 'filter_for_successful_trajectories': True,
+ 'log_level': 'info',
+ 'num_envs': 1,
+ 'num_workers': 1,
+ 'output_dir': PosixPath('/scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_307'),
+ 'output_suffix': '_cam_rand',
+ 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
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+ 'policy_dt_ms': 66.0,
+ 'profile': True,
+ 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x71731d1a1c90>,
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+                                          'base_action_scale_factor': 0.1,
+                                          'enabled': True,
+                                          'max_base_position_noise': 0.02,
+                                          'max_base_rotation_noise': 0.05,
+                                          'max_tcp_position_noise': 0.02,
+                                          'max_tcp_rotation_noise': 0.1,
+                                          'rotation_noise_scale': 0.1},
+                  'command_mode': {'arm': 'joint_position',
+                                   'gripper': 'joint_position'},
+                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
+                  'gravcomp': True,
+                  'init_qpos': {'arm': [0,
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+                                                    0.4,
+                                                    0.4,
+                                                    0.4,
+                                                    0.4,
+                                                    0.4]},
+                  'name': 'franka_droid',
+                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_namespace': 'robot_0/',
+                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
+                  'robot_xml_path': PosixPath('model.xml')},
+ 'save_depth_mp4': False,
+ 'scene_dataset': 'ithor_minimal_fridge_m',
+ 'seed': 80703,
+ 'shared_output_dir': True,
+ 'sim_dt_ms': 2.0,
+ 'task_config': {'action_dtype': 'float32',
+                 'added_objects': {},
+                 'any_inst_of_category': True,
+                 'articulation_object_name': None,
+                 'enable_rendering': True,
+                 'joint_goal_position': None,
+                 'joint_index': 0,
+                 'joint_name': None,
+                 'joint_start_position': None,
+                 'object_poses': None,
+                 'pickup_obj_goal_pose': None,
+                 'pickup_obj_name': None,
+                 'pickup_obj_start_pose': None,
+                 'place_target_name': None,
+                 'receptacle_name': None,
+                 'referral_expressions': {},
+                 'referral_expressions_priority': {},
+                 'robot_base_pose': None,
+                 'succ_pos_threshold': 0.01,
+                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
+                 'task_success_threshold': 0.15,
+                 'tracked_object_names': None,
+                 'use_sensors': True},
+ 'task_config_preset': None,
+ 'task_config_preset_exp': None,
+ 'task_config_preset_scn': None,
+ 'task_horizon': 300,
+ 'task_sampler_config': {'absolute_robot_base_z': 0.86,
+                         'absolute_robot_base_z_jitter_range': (-0.1, 0.1),
+                         'added_pickup_class_max_uids': None,
+                         'added_pickup_class_rank': None,
+                         'added_pickup_namespace': 'pickup/',
+                         'added_pickup_objects': None,
+                         'base_pose_sampling_radius_range': (0.8, 1.2),
+                         'base_pose_sampling_theta_range_rad': (-0.5, 1.0),
+                         'check_robot_placement_visibility': True,
+                         'dataset_name': 'procthor-10k',
+                         'enable_texture_randomization': False,
+                         'episodes_per_added_pickup': 1,
+                         'fixed_joint_index': 1,
+                         'fixed_object_instance_index': [1],
+                         'house_inds': [1],
+                         'load_robot_from_file': True,
+                         'max_added_pickup_placement_attempts': 100,
+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 100,
+                         'max_allowed_sequential_task_sampler_failures': 100,
+                         'max_asset_failures': 10,
+                         'max_object_placement_attempts': 200,
+                         'max_receptacle_attempts': 10,
+                         'max_reference_to_added_pickup_dist': 0.5,
+                         'max_robot_placement_attempts': 10,
+                         'max_robot_to_added_pickup_dist': 0.7,
+                         'max_robot_to_obj_dist': 0.6,
+                         'max_robot_to_target_dist': 0.6,
+                         'max_tasks': inf,
+                         'max_total_attempts_multiplier': 6,
+                         'min_object_separation': 0.05,
+                         'min_reference_to_added_pickup_dist': 0.15,
+                         'num_added_pickups': 30,
+                         'objaverse_oversampling_factor': 30,
+                         'object_placement_radius_range': (0.1, 0.8),
+                         'pickup_obj_name': None,
+                         'pickup_types': ['fridge'],
+                         'place_target_name': None,
+                         'placement_robot_height': 1.4,
+                         'placement_volume_name': None,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'receptacle_name': None,
+                         'receptacle_types': ('ArmChair',
+                                              'Bed',
+                                              'Chair',
+                                              'CoffeeTable',
+                                              'CounterTop',
+                                              'Desk',
+                                              'DiningTable',
+                                              'Dresser',
+                                              'Shelf',
+                                              'SideTable',
+                                              'Sofa',
+                                              'Stool',
+                                              'TVStand'),
+                         'robot_object_z_offset': -1.0,
+                         'robot_object_z_offset_random_max': 0,
+                         'robot_object_z_offset_random_min': 0,
+                         'robot_placement_exclusion_threshold': 0.0,
+                         'robot_placement_radius_range': (0.3, 0.8),
+                         'robot_placement_rotation_range_rad': 0.5,
+                         'robot_safety_radius': 0.15,
+                         'samples_per_house': 3,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'target_initial_state_open_percentage': 0.0,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'open',
+ 'total_batches': 3,
+ 'use_filament': False,
+ 'use_passive_viewer': False,
+ 'use_viser': False,
+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'viewer_camera': None,
+ 'viser_port': 8080,
+ 'wandb_name': None,
+ 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
+05/15 01:59:28 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/15 01:59:28 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/15 01:59:28 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/15 01:59:28 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/15 01:59:28 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/15 01:59:30 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/FloorPlan1_physics.xml	[task_sampler.py: 797]
+05/15 01:59:30 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/15 01:59:30 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/FloorPlan1_physics.xml	[task_sampler.py: 797]
+05/15 01:59:30 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/15 01:59:30 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/15 01:59:30 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/15 01:59:30 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 01:59:30 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 01:59:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 01:59:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 01:59:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 01:59:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 01:59:30 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 01:59:30 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 01:59:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 01:59:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.003m, effective arm-mount z=0.857m (base_body_z=-0.003m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 01:59:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 01:59:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 01:59:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.003495m	[env.py: 870]
+05/15 01:59:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 01:59:30 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
+05/15 01:59:30 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/15 01:59:30 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/15 01:59:30 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 01:59:30 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 01:59:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 01:59:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 01:59:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 01:59:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 01:59:30 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 01:59:30 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 01:59:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 01:59:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.090m, effective arm-mount z=0.770m (base_body_z=-0.090m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 01:59:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 01:59:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 01:59:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.089786m	[env.py: 870]
+05/15 01:59:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 01:59:30 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
+05/15 01:59:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 01:59:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 117.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:59:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 01:59:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.41598078 -0.27955175 -0.08978631] yaw=-116.8deg	[env.py: 1019]
+05/15 01:59:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 01:59:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -152.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:59:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 138.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:59:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -39.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:59:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -51.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:59:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 83.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:59:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 133.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:59:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -158.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:59:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 95.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:59:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.01653037 -0.34200421 -0.00349546] yaw=-130.9deg	[env.py: 1019]
+05/15 01:59:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 01:59:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.29577375 -0.18604555 -0.00349546] yaw=-137.2deg	[env.py: 1019]
+05/15 01:59:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 01:59:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.11275396 -1.2370154  -0.08978631] yaw=181.5deg	[env.py: 1019]
+05/15 01:59:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 01:59:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 01:59:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=22.6ms, retries=221.9ms, total=244.5ms	[env.py: 1075]
+05/15 01:59:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.416, -0.280, -0.090)	[env.py: 1079]
+05/15 01:59:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -116.8 deg	[env.py: 1082]
+05/15 01:59:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.849m	[env.py: 1086]
+05/15 01:59:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 01:59:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 01:59:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 01:59:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 01:59:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.01699219 -0.45966521 -0.00349546] yaw=-142.7deg	[env.py: 1019]
+05/15 01:59:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 01:59:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 01:59:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=14.8ms, retries=261.9ms, total=276.7ms	[env.py: 1075]
+05/15 01:59:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.017, -0.342, -0.003)	[env.py: 1079]
+05/15 01:59:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -130.9 deg	[env.py: 1082]
+05/15 01:59:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.159m	[env.py: 1086]
+05/15 01:59:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 01:59:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 01:59:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 01:59:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 01:59:30 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 01:59:30 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
+05/15 01:59:30 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 01:59:30 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
+05/15 01:59:33 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/15 01:59:33 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
+05/15 01:59:33 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/15 01:59:33 INFO: {'batch_num': 2,
+ 'benchmark_path': None,
+ 'camera_config': {'cameras': [{'fov': 56.74,
+                                'fov_noise_degrees': None,
+                                'is_warped': False,
+                                'mjcf_name': 'gripper/wrist_camera',
+                                'name': 'wrist_camera',
+                                'orientation_noise_degrees': None,
+                                'pos_noise_range': None,
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'robot_namespace': 'robot_0/',
+                                'skip_erosion': False,
+                                'visibility_constraints': None},
+                               {'camera_offset': [-0.3063767985191294,
+                                                  0.41898548410680353,
+                                                  0.6558403226398233],
+                                'camera_quaternion': [0.3798949547479566,
+                                                      0.29653985043683495,
+                                                      -0.501112681562358,
+                                                      -0.7187697968315937],
+                                'fov': 71.0,
+                                'is_warped': False,
+                                'lookat_noise_range': None,
+                                'lookat_offset': [0.0, 0.0, 0.08],
+                                'name': 'exo_camera_1',
+                                'orientation_noise_degrees': 5.0,
+                                'pos_noise_range': (-0.05, 0.05),
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'reference_body_names': ['robot_0/fr3_link0'],
+                                'skip_erosion': False,
+                                'up_axis': 'z',
+                                'visibility_constraints': None}],
+                   'img_resolution': (1280, 720)},
+ 'collision_free_pose_limit': 3,
+ 'config_version': '0.1',
+ 'ctrl_dt_ms': 2.0,
+ 'data_split': 'train',
+ 'datagen_profiler': True,
+ 'end_on_success': False,
+ 'environment_light_intensity': 15000.0,
+ 'eval_runtime_params': {'add_custom_object': False,
+                         'custom_object_name': None,
+                         'custom_object_path': None,
+                         'episode_idx': None},
+ 'filter_for_successful_trajectories': True,
+ 'log_level': 'info',
+ 'num_envs': 1,
+ 'num_workers': 1,
+ 'output_dir': PosixPath('/scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_307'),
+ 'output_suffix': '_cam_rand',
+ 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
+                   'policy_type': 'planner'},
+ 'policy_dt_ms': 66.0,
+ 'profile': True,
+ 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x7b42531e8d10>,
+ 'robot_config': {'K_damping': [793.0831592413665,
+                                241.62769618042807,
+                                300.12442783719814,
+                                440.9812092338339,
+                                500.000000000004,
+                                311.89516163317654,
+                                500.000000000004],
+                  'K_stiffness': [5132.972657172051,
+                                  1060.4599870990814,
+                                  1814.2516466742627,
+                                  2282.7973699783515,
+                                  2963.6502662461776,
+                                  1843.22950428842,
+                                  2505.657053829795],
+                  'action_noise_config': {'action_scale_factor': 0.1,
+                                          'base_action_scale_factor': 0.1,
+                                          'enabled': True,
+                                          'max_base_position_noise': 0.02,
+                                          'max_base_rotation_noise': 0.05,
+                                          'max_tcp_position_noise': 0.02,
+                                          'max_tcp_rotation_noise': 0.1,
+                                          'rotation_noise_scale': 0.1},
+                  'command_mode': {'arm': 'joint_position',
+                                   'gripper': 'joint_position'},
+                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
+                  'gravcomp': True,
+                  'init_qpos': {'arm': [0,
+                                        -0.7853,
+                                        0,
+                                        -2.35619,
+                                        0,
+                                        1.57079,
+                                        0.0],
+                                'gripper': [0.00296, 0.00296]},
+                  'init_qpos_noise_range': {'arm': [0.4,
+                                                    0.4,
+                                                    0.4,
+                                                    0.4,
+                                                    0.4,
+                                                    0.4,
+                                                    0.4]},
+                  'name': 'franka_droid',
+                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_namespace': 'robot_0/',
+                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
+                  'robot_xml_path': PosixPath('model.xml')},
+ 'save_depth_mp4': False,
+ 'scene_dataset': 'ithor_minimal_fridge_m',
+ 'seed': 80702,
+ 'shared_output_dir': True,
+ 'sim_dt_ms': 2.0,
+ 'task_config': {'action_dtype': 'float32',
+                 'added_objects': {},
+                 'any_inst_of_category': True,
+                 'articulation_object_name': None,
+                 'enable_rendering': True,
+                 'joint_goal_position': None,
+                 'joint_index': 0,
+                 'joint_name': None,
+                 'joint_start_position': None,
+                 'object_poses': None,
+                 'pickup_obj_goal_pose': None,
+                 'pickup_obj_name': None,
+                 'pickup_obj_start_pose': None,
+                 'place_target_name': None,
+                 'receptacle_name': None,
+                 'referral_expressions': {},
+                 'referral_expressions_priority': {},
+                 'robot_base_pose': None,
+                 'succ_pos_threshold': 0.01,
+                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
+                 'task_success_threshold': 0.15,
+                 'tracked_object_names': None,
+                 'use_sensors': True},
+ 'task_config_preset': None,
+ 'task_config_preset_exp': None,
+ 'task_config_preset_scn': None,
+ 'task_horizon': 300,
+ 'task_sampler_config': {'absolute_robot_base_z': 0.86,
+                         'absolute_robot_base_z_jitter_range': (-0.1, 0.1),
+                         'added_pickup_class_max_uids': None,
+                         'added_pickup_class_rank': None,
+                         'added_pickup_namespace': 'pickup/',
+                         'added_pickup_objects': None,
+                         'base_pose_sampling_radius_range': (0.8, 1.2),
+                         'base_pose_sampling_theta_range_rad': (-0.5, 1.0),
+                         'check_robot_placement_visibility': True,
+                         'dataset_name': 'procthor-10k',
+                         'enable_texture_randomization': False,
+                         'episodes_per_added_pickup': 1,
+                         'fixed_joint_index': 1,
+                         'fixed_object_instance_index': [1],
+                         'house_inds': [1],
+                         'load_robot_from_file': True,
+                         'max_added_pickup_placement_attempts': 100,
+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 100,
+                         'max_allowed_sequential_task_sampler_failures': 100,
+                         'max_asset_failures': 10,
+                         'max_object_placement_attempts': 200,
+                         'max_receptacle_attempts': 10,
+                         'max_reference_to_added_pickup_dist': 0.5,
+                         'max_robot_placement_attempts': 10,
+                         'max_robot_to_added_pickup_dist': 0.7,
+                         'max_robot_to_obj_dist': 0.6,
+                         'max_robot_to_target_dist': 0.6,
+                         'max_tasks': inf,
+                         'max_total_attempts_multiplier': 6,
+                         'min_object_separation': 0.05,
+                         'min_reference_to_added_pickup_dist': 0.15,
+                         'num_added_pickups': 30,
+                         'objaverse_oversampling_factor': 30,
+                         'object_placement_radius_range': (0.1, 0.8),
+                         'pickup_obj_name': None,
+                         'pickup_types': ['fridge'],
+                         'place_target_name': None,
+                         'placement_robot_height': 1.4,
+                         'placement_volume_name': None,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'receptacle_name': None,
+                         'receptacle_types': ('ArmChair',
+                                              'Bed',
+                                              'Chair',
+                                              'CoffeeTable',
+                                              'CounterTop',
+                                              'Desk',
+                                              'DiningTable',
+                                              'Dresser',
+                                              'Shelf',
+                                              'SideTable',
+                                              'Sofa',
+                                              'Stool',
+                                              'TVStand'),
+                         'robot_object_z_offset': -1.0,
+                         'robot_object_z_offset_random_max': 0,
+                         'robot_object_z_offset_random_min': 0,
+                         'robot_placement_exclusion_threshold': 0.0,
+                         'robot_placement_radius_range': (0.3, 0.8),
+                         'robot_placement_rotation_range_rad': 0.5,
+                         'robot_safety_radius': 0.15,
+                         'samples_per_house': 3,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'target_initial_state_open_percentage': 0.0,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'open',
+ 'total_batches': 3,
+ 'use_filament': False,
+ 'use_passive_viewer': False,
+ 'use_viser': False,
+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'viewer_camera': None,
+ 'viser_port': 8080,
+ 'wandb_name': None,
+ 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
+05/15 01:59:33 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/15 01:59:33 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/15 01:59:33 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/15 01:59:33 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/15 01:59:35 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/FloorPlan1_physics.xml	[task_sampler.py: 797]
+05/15 01:59:35 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/15 01:59:35 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/15 01:59:35 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/15 01:59:35 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 01:59:35 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 01:59:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 01:59:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 01:59:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 01:59:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 01:59:35 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 01:59:35 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 01:59:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 01:59:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.028m, effective arm-mount z=0.832m (base_body_z=-0.028m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 01:59:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 01:59:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 01:59:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.028002m	[env.py: 870]
+05/15 01:59:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 01:59:35 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
+05/15 01:59:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 01:59:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.27155234 -0.71137415 -0.02800238] yaw=-153.4deg	[env.py: 1019]
+05/15 01:59:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 01:59:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 58.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:59:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -39.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:59:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 60.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:59:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 82.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:59:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.14127954 -1.2664511  -0.02800238] yaw=135.0deg	[env.py: 1019]
+05/15 01:59:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 01:59:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.05992292 -1.1993081  -0.02800238] yaw=169.2deg	[env.py: 1019]
+05/15 01:59:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 01:59:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 01:59:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=14.8ms, retries=141.1ms, total=155.9ms	[env.py: 1075]
+05/15 01:59:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.272, -0.711, -0.028)	[env.py: 1079]
+05/15 01:59:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -153.4 deg	[env.py: 1082]
+05/15 01:59:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.810m	[env.py: 1086]
+05/15 01:59:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 01:59:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 01:59:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 01:59:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 01:59:35 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 01:59:35 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
+05/15 01:59:58 INFO: [Worker 0] Warmed up parallel IK solver in 27.083s	[base_object_manipulation_planner_policy.py: 377]
+05/15 01:59:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 01:59:58 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 01:59:58 INFO: [Worker 0] Collision-checked 230 grasps in 0.059s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 01:59:59 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.177s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 01:59:59 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.488[m] 93.319[deg]	[grasp_sample.py: 539]
+05/15 01:59:59 INFO: [Worker 0] Warmed up parallel IK solver in 28.368s	[base_object_manipulation_planner_policy.py: 377]
+05/15 01:59:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 01:59:59 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 01:59:59 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 01:59:59 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 01:59:59 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 01:59:59 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:00:01 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.608s, found feasible grasp: False	[grasp_sample.py: 500]
+05/15 02:00:01 ERROR: [Worker 0] Worker 0 house 1 episode 0 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/15 02:00:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 02:00:02 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 02:00:02 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 02:00:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:00:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:00:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:00:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:00:02 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 02:00:02 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 02:00:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 02:00:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.076m, effective arm-mount z=0.784m (base_body_z=-0.076m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 02:00:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 02:00:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 02:00:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.076180m	[env.py: 870]
+05/15 02:00:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 02:00:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 02:00:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 02:00:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.04033424 -1.13604858 -0.07618018] yaw=171.3deg	[env.py: 1019]
+05/15 02:00:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 02:00:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -32.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:00:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 79.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:00:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 76.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:00:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.41624022  0.01439945 -0.07618018] yaw=-148.9deg	[env.py: 1019]
+05/15 02:00:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 02:00:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.39945234 -0.25023543 -0.07618018] yaw=-149.1deg	[env.py: 1019]
+05/15 02:00:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 02:00:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 02:00:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=148.8ms, total=148.8ms	[env.py: 1075]
+05/15 02:00:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.040, -1.136, -0.076)	[env.py: 1079]
+05/15 02:00:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 171.3 deg	[env.py: 1082]
+05/15 02:00:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.160m	[env.py: 1086]
+05/15 02:00:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:00:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:00:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:00:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:00:02 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 02:00:02 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
+05/15 02:00:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s	[base_object_manipulation_planner_policy.py: 377]
+05/15 02:00:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 02:00:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:00:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:00:04 INFO: [Worker 0] Warmed up parallel IK solver in 28.158s	[base_object_manipulation_planner_policy.py: 377]
+05/15 02:00:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 02:00:04 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:00:04 INFO: [Worker 0] Collision-checked 230 grasps in 0.078s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:00:04 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.757s, found feasible grasp: False	[grasp_sample.py: 500]
+05/15 02:00:04 ERROR: [Worker 0] Worker 0 house 1 episode 1 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/15 02:00:04 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.453s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 02:00:04 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.305[m] 84.588[deg]	[grasp_sample.py: 539]
+05/15 02:00:04 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 02:00:05 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 02:00:05 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:00:05 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 02:00:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 02:00:05 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 02:00:05 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 02:00:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:00:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:00:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:00:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:00:05 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 02:00:05 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 02:00:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 02:00:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.054m, effective arm-mount z=0.806m (base_body_z=-0.054m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 02:00:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 02:00:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 02:00:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.053840m	[env.py: 870]
+05/15 02:00:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 02:00:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 02:00:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 02:00:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 105.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:00:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.29995098 -0.21819306 -0.05384008] yaw=-160.7deg	[env.py: 1019]
+05/15 02:00:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 02:00:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 58.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:00:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 118.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:00:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 57.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:00:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.14287498 -0.95401882 -0.05384008] yaw=158.5deg	[env.py: 1019]
+05/15 02:00:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 02:00:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.11729116 -0.76897509 -0.05384008] yaw=-187.1deg	[env.py: 1019]
+05/15 02:00:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 02:00:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 02:00:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=164.6ms, total=164.6ms	[env.py: 1075]
+05/15 02:00:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.300, -0.218, -0.054)	[env.py: 1079]
+05/15 02:00:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -160.7 deg	[env.py: 1082]
+05/15 02:00:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.978m	[env.py: 1086]
+05/15 02:00:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:00:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:00:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:00:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:00:06 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 02:00:06 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
+05/15 02:00:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s	[base_object_manipulation_planner_policy.py: 377]
+05/15 02:00:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 02:00:06 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:00:06 INFO: [Worker 0] Collision-checked 230 grasps in 0.056s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:00:08 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.633s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 02:00:08 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.705[m] 73.239[deg]	[grasp_sample.py: 539]
+05/15 02:00:08 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 02:00:08 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 02:00:08 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:00:08 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 02:00:25 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:00:31 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 02:00:34 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:00:35 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:00:42 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 02:00:45 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:00:53 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:00:59 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 02:01:03 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:01:46 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 02:01:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:01:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:01:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:01:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:01:57 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 02:01:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:02:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:02:00 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 02:02:01 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_307	[pipeline.py: 1174]
+05/15 02:02:01 INFO: [Worker 0] Batching and saving trajectory data for chunk_307 batch 2/3: 1 episodes	[pipeline.py: 238]
+05/15 02:02:01 INFO: [Worker 0] Preparing episode data: 283 timesteps	[save_utils.py: 278]
+05/15 02:02:12 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 02:02:12 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_307	[save_utils.py: 785]
+05/15 02:02:12 INFO: [Worker 0] Successfully saved trajectory data for chunk_307 in 11.31s (batch: 2.86s, save: 8.45s)	[pipeline.py: 300]
+05/15 02:02:13 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=2.50s:
+  episode_total: mean=159.84s, total=159.84s, count=1, min=159840.3ms, max=159840.3ms
+  sensor_polling: mean=331.9ms, total=93.58s, count=282, min=292.7ms, max=561.0ms
+  save_trajectories: mean=8.45s, total=8.45s, count=1, min=8449.5ms, max=8449.5ms
+  physics_step: mean=21.6ms, total=6.10s, count=282, min=13.8ms, max=29.1ms
+  save_batch_prep: mean=2.86s, total=2.86s, count=1, min=2862.7ms, max=2862.7ms
+  task_sampling: mean=2.50s, total=2.50s, count=1, min=2501.5ms, max=2501.5ms
+  scene_load: mean=2.14s, total=2.14s, count=1, min=2138.2ms, max=2138.2ms
+  scene_env_create: mean=1.26s, total=1.26s, count=1, min=1262.6ms, max=1262.6ms
+  scene_compile: mean=747.8ms, total=747.8ms, count=1, min=747.8ms, max=747.8ms
+  compile_mujoco: mean=548.5ms, total=548.5ms, count=1, min=548.5ms, max=548.5ms
+  task_specific_sample: mean=360.5ms, total=360.5ms, count=1, min=360.5ms, max=360.5ms
+  compile_xml_load: mean=140.7ms, total=140.7ms, count=1, min=140.7ms, max=140.7ms
+  scene_init: mean=75.1ms, total=75.1ms, count=1, min=75.1ms, max=75.1ms
+  scene_asset_install: mean=52.4ms, total=52.4ms, count=1, min=52.4ms, max=52.4ms
+  compile_aux_objects: mean=42.9ms, total=42.9ms, count=1, min=42.9ms, max=42.9ms
+  compile_aux_policy_objects: mean=42.9ms, total=42.9ms, count=1, min=42.9ms, max=42.9ms
+  asset_install_grasps: mean=37.2ms, total=37.2ms, count=1, min=37.2ms, max=37.2ms
+  asset_install_objects: mean=12.2ms, total=12.2ms, count=1, min=12.2ms, max=12.2ms
+  compile_robot_add: mean=6.6ms, total=6.6ms, count=1, min=6.6ms, max=6.6ms
+  asset_install_scene: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
+  scene_randomize: mean=1.5ms, total=1.5ms, count=1, min=1.5ms, max=1.5ms
+  mj_forward_sync: mean=355.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=27.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 02:02:14 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_307	[pipeline.py: 1174]
+05/15 02:02:14 INFO: [Worker 0] Batching and saving trajectory data for chunk_307 batch 3/3: 1 episodes	[pipeline.py: 238]
+05/15 02:02:14 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 02:02:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 02:02:14 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 02:02:14 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 02:02:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:02:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:02:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:02:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:02:14 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 02:02:14 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 02:02:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 02:02:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.061m, effective arm-mount z=0.799m (base_body_z=-0.061m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 02:02:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 02:02:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 02:02:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.061479m	[env.py: 870]
+05/15 02:02:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 02:02:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 02:02:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 02:02:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -30.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:02:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -76.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:02:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.37586443 -0.24066609 -0.06147904] yaw=-150.5deg	[env.py: 1019]
+05/15 02:02:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 02:02:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.30092133 -0.14586333 -0.06147904] yaw=-127.4deg	[env.py: 1019]
+05/15 02:02:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 02:02:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 65.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:02:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.15191771 -0.94896236 -0.06147904] yaw=193.3deg	[env.py: 1019]
+05/15 02:02:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 02:02:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 02:02:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=306.7ms, total=306.7ms	[env.py: 1075]
+05/15 02:02:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.376, -0.241, -0.061)	[env.py: 1079]
+05/15 02:02:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -150.5 deg	[env.py: 1082]
+05/15 02:02:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.905m	[env.py: 1086]
+05/15 02:02:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:02:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:02:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:02:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:02:15 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 02:02:15 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
+05/15 02:02:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s	[base_object_manipulation_planner_policy.py: 377]
+05/15 02:02:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 02:02:15 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:02:15 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:02:15 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_307	[pipeline.py: 1174]
+05/15 02:02:15 INFO: [Worker 0] Batching and saving trajectory data for chunk_307 batch 1/3: 1 episodes	[pipeline.py: 238]
+05/15 02:02:15 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 02:02:16 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.282s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 02:02:16 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.612[m] 87.174[deg]	[grasp_sample.py: 539]
+05/15 02:02:17 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 02:02:17 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 02:02:17 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:02:29 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 02:02:29 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_307	[save_utils.py: 785]
+05/15 02:02:29 INFO: [Worker 0] Successfully saved trajectory data for chunk_307 in 14.52s (batch: 4.10s, save: 10.43s)	[pipeline.py: 300]
+05/15 02:02:29 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 02:02:29 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_307	[save_utils.py: 785]
+05/15 02:02:29 INFO: [Worker 0] Successfully saved trajectory data for chunk_307 in 13.58s (batch: 2.80s, save: 10.78s)	[pipeline.py: 300]
+05/15 02:02:29 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=3.58s:
+  episode_total: mean=59.68s, total=179.04s, count=3, min=2210.1ms, max=143896.9ms
+  sensor_polling: mean=325.8ms, total=97.74s, count=300, min=297.8ms, max=483.2ms
+  save_trajectories: mean=10.43s, total=10.43s, count=1, min=10427.5ms, max=10427.5ms
+  physics_step: mean=19.6ms, total=5.87s, count=300, min=17.2ms, max=32.5ms
+  save_batch_prep: mean=4.10s, total=4.10s, count=1, min=4096.1ms, max=4096.1ms
+  task_sampling: mean=1.19s, total=3.58s, count=3, min=346.5ms, max=2886.9ms
+  scene_load: mean=2.39s, total=2.39s, count=1, min=2392.3ms, max=2392.3ms
+  scene_env_create: mean=1.49s, total=1.49s, count=1, min=1494.1ms, max=1494.1ms
+  task_specific_sample: mean=394.4ms, total=1.18s, count=3, min=344.0ms, max=492.0ms
+  scene_compile: mean=776.7ms, total=776.7ms, count=1, min=776.7ms, max=776.7ms
+  compile_mujoco: mean=528.0ms, total=528.0ms, count=1, min=528.0ms, max=528.0ms
+  compile_xml_load: mean=179.3ms, total=179.3ms, count=1, min=179.3ms, max=179.3ms
+  scene_init: mean=74.9ms, total=74.9ms, count=1, min=74.9ms, max=74.9ms
+  scene_asset_install: mean=46.2ms, total=46.2ms, count=1, min=46.2ms, max=46.2ms
+  compile_aux_objects: mean=42.7ms, total=42.7ms, count=1, min=42.7ms, max=42.7ms
+  compile_aux_policy_objects: mean=42.7ms, total=42.7ms, count=1, min=42.7ms, max=42.7ms
+  asset_install_grasps: mean=32.0ms, total=32.0ms, count=1, min=32.0ms, max=32.0ms
+  compile_robot_add: mean=16.7ms, total=16.7ms, count=1, min=16.7ms, max=16.7ms
+  asset_install_objects: mean=11.5ms, total=11.5ms, count=1, min=11.5ms, max=11.5ms
+  scene_randomize: mean=1.2ms, total=3.6ms, count=3, min=1.1ms, max=1.4ms
+  asset_install_scene: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  mj_forward_sync: mean=393.7us, total=1.2ms, count=3, min=0.4ms, max=0.4ms
+  policy_setup: mean=26.6us, total=0.1ms, count=3, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 02:02:29 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=3.00s:
+  episode_total: mean=181.99s, total=181.99s, count=1, min=181990.8ms, max=181990.8ms
+  sensor_polling: mean=366.8ms, total=110.05s, count=300, min=302.0ms, max=513.5ms
+  save_trajectories: mean=10.78s, total=10.78s, count=1, min=10779.4ms, max=10779.4ms
+  physics_step: mean=20.6ms, total=6.18s, count=300, min=14.2ms, max=32.0ms
+  task_sampling: mean=3.00s, total=3.00s, count=1, min=2998.3ms, max=2998.3ms
+  save_batch_prep: mean=2.80s, total=2.80s, count=1, min=2799.8ms, max=2799.8ms
+  scene_load: mean=2.53s, total=2.53s, count=1, min=2533.1ms, max=2533.1ms
+  scene_env_create: mean=1.46s, total=1.46s, count=1, min=1459.4ms, max=1459.4ms
+  scene_compile: mean=958.2ms, total=958.2ms, count=1, min=958.2ms, max=958.2ms
+  compile_mujoco: mean=580.5ms, total=580.5ms, count=1, min=580.5ms, max=580.5ms
+  task_specific_sample: mean=462.7ms, total=462.7ms, count=1, min=462.7ms, max=462.7ms
+  compile_xml_load: mean=305.8ms, total=305.8ms, count=1, min=305.8ms, max=305.8ms
+  scene_init: mean=76.1ms, total=76.1ms, count=1, min=76.1ms, max=76.1ms
+  compile_aux_objects: mean=42.6ms, total=42.6ms, count=1, min=42.6ms, max=42.6ms
+  compile_aux_policy_objects: mean=42.6ms, total=42.6ms, count=1, min=42.6ms, max=42.6ms
+  scene_asset_install: mean=39.2ms, total=39.2ms, count=1, min=39.2ms, max=39.2ms
+  asset_install_grasps: mean=27.9ms, total=27.9ms, count=1, min=27.9ms, max=27.9ms
+  compile_robot_add: mean=16.7ms, total=16.7ms, count=1, min=16.7ms, max=16.7ms
+  asset_install_objects: mean=8.5ms, total=8.5ms, count=1, min=8.5ms, max=8.5ms
+  asset_install_scene: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  scene_randomize: mean=993.9us, total=1.0ms, count=1, min=1.0ms, max=1.0ms
+  mj_forward_sync: mean=352.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=43.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 02:02:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 02:02:31 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 02:02:31 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 02:02:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:02:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:02:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:02:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:02:31 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 02:02:31 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 02:02:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 02:02:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.026m, effective arm-mount z=0.834m (base_body_z=-0.026m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 02:02:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 02:02:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 02:02:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.026102m	[env.py: 870]
+05/15 02:02:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 02:02:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 02:02:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 02:02:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 02:02:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.1069915  -1.07322208 -0.02610217] yaw=149.8deg	[env.py: 1019]
+05/15 02:02:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 02:02:31 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 02:02:31 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 02:02:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:02:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:02:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:02:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:02:31 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 02:02:31 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 02:02:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 02:02:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.068m, effective arm-mount z=0.928m (base_body_z=0.068m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 02:02:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 02:02:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 02:02:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.067729m	[env.py: 870]
+05/15 02:02:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 02:02:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 02:02:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -68.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:02:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 02:02:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 129.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:02:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 66.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:02:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -50.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:02:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 140.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:02:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -56.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:02:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -167.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:02:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.09399846 -0.89552404 -0.02610217] yaw=198.2deg	[env.py: 1019]
+05/15 02:02:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 02:02:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 76.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:02:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.07436907 -1.04524353  0.06772869] yaw=179.0deg	[env.py: 1019]
+05/15 02:02:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 02:02:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.41751819 -0.22345324 -0.02610217] yaw=-150.9deg	[env.py: 1019]
+05/15 02:02:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 02:02:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 02:02:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=418.3ms, total=418.4ms	[env.py: 1075]
+05/15 02:02:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.107, -1.073, -0.026)	[env.py: 1079]
+05/15 02:02:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 149.8 deg	[env.py: 1082]
+05/15 02:02:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.001m	[env.py: 1086]
+05/15 02:02:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:02:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:02:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:02:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:02:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 02:02:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=603.5ms, total=603.5ms	[env.py: 1075]
+05/15 02:02:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.074, -1.045, 0.068)	[env.py: 1079]
+05/15 02:02:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 179.0 deg	[env.py: 1082]
+05/15 02:02:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.026m	[env.py: 1086]
+05/15 02:02:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:02:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:02:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:02:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:02:32 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 02:02:32 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
+05/15 02:02:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s	[base_object_manipulation_planner_policy.py: 377]
+05/15 02:02:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 02:02:32 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:02:32 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 02:02:32 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
+05/15 02:02:32 INFO: [Worker 0] Collision-checked 230 grasps in 0.060s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:02:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.078s	[base_object_manipulation_planner_policy.py: 377]
+05/15 02:02:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 02:02:32 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:02:32 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:02:33 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.685s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 02:02:33 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.541[m] 74.336[deg]	[grasp_sample.py: 539]
+05/15 02:02:33 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 02:02:33 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.915s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 02:02:33 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.595[m] 84.707[deg]	[grasp_sample.py: 539]
+05/15 02:02:33 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 02:02:33 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 02:02:33 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:02:33 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 02:02:33 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 02:02:33 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:02:34 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 02:03:03 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:03:12 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 02:03:15 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:03:21 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:03:25 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:03:31 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 02:03:33 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 02:03:35 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:03:37 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:04:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:04:15 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 02:04:34 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_307	[pipeline.py: 1174]
+05/15 02:04:34 INFO: [Worker 0] Batching and saving trajectory data for chunk_307 batch 2/3: 1 episodes	[pipeline.py: 238]
+05/15 02:04:34 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 02:04:47 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 02:04:47 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 02:04:47 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_307	[save_utils.py: 785]
+05/15 02:04:47 INFO: [Worker 0] Successfully saved trajectory data for chunk_307 in 13.49s (batch: 3.08s, save: 10.41s)	[pipeline.py: 300]
+05/15 02:04:48 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=0.59s:
+  episode_total: mean=153.43s, total=153.43s, count=1, min=153430.4ms, max=153430.4ms
+  sensor_polling: mean=361.5ms, total=108.45s, count=300, min=292.5ms, max=763.1ms
+  save_trajectories: mean=10.41s, total=10.41s, count=1, min=10406.7ms, max=10406.7ms
+  physics_step: mean=21.0ms, total=6.30s, count=300, min=14.2ms, max=28.1ms
+  save_batch_prep: mean=3.08s, total=3.08s, count=1, min=3079.1ms, max=3079.1ms
+  task_sampling: mean=587.0ms, total=587.0ms, count=1, min=587.0ms, max=587.0ms
+  task_specific_sample: mean=583.5ms, total=583.5ms, count=1, min=583.5ms, max=583.5ms
+  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
+  mj_forward_sync: mean=398.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=23.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 02:04:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 02:04:49 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 02:04:49 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 02:04:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:04:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:04:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:04:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:04:49 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 02:04:49 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 02:04:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 02:04:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.053m, effective arm-mount z=0.913m (base_body_z=0.053m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 02:04:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 02:04:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 02:04:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.052884m	[env.py: 870]
+05/15 02:04:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 02:04:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 02:04:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 02:04:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.04415746 -0.49849779  0.05288409] yaw=-157.1deg	[env.py: 1019]
+05/15 02:04:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 02:04:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 119.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:04:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 138.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:04:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 174.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:04:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -81.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:04:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.07652679 -0.62008321  0.05288409] yaw=-184.1deg	[env.py: 1019]
+05/15 02:04:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 02:04:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.0423816  -1.12404721  0.05288409] yaw=177.4deg	[env.py: 1019]
+05/15 02:04:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 02:04:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 02:04:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=207.0ms, total=207.0ms	[env.py: 1075]
+05/15 02:04:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.044, -0.498, 0.053)	[env.py: 1079]
+05/15 02:04:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -157.1 deg	[env.py: 1082]
+05/15 02:04:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.163m	[env.py: 1086]
+05/15 02:04:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:04:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:04:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:04:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:04:50 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 02:04:50 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
+05/15 02:04:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.081s	[base_object_manipulation_planner_policy.py: 377]
+05/15 02:04:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 02:04:50 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:04:50 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:04:52 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.707s, found feasible grasp: False	[grasp_sample.py: 500]
+05/15 02:04:52 ERROR: [Worker 0] Worker 0 house 1 episode 2 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/15 02:04:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 02:04:53 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 02:04:53 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 02:04:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:04:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:04:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:04:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:04:53 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 02:04:53 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 02:04:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 02:04:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.007m, effective arm-mount z=0.867m (base_body_z=0.007m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 02:04:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 02:04:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 02:04:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.006554m	[env.py: 870]
+05/15 02:04:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 02:04:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 02:04:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 02:04:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 113.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:04:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 89.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:04:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 162.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:04:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 106.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:04:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 93.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:04:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.17848015 -1.0009639   0.00655419] yaw=196.5deg	[env.py: 1019]
+05/15 02:04:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 02:04:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.18122693 -0.14970983  0.00655419] yaw=-123.5deg	[env.py: 1019]
+05/15 02:04:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 02:04:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 02:04:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=265.8ms, total=265.9ms	[env.py: 1075]
+05/15 02:04:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.178, -1.001, 0.007)	[env.py: 1079]
+05/15 02:04:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 196.5 deg	[env.py: 1082]
+05/15 02:04:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.915m	[env.py: 1086]
+05/15 02:04:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:04:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:04:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:04:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:04:54 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 02:04:54 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
+05/15 02:04:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.055s	[base_object_manipulation_planner_policy.py: 377]
+05/15 02:04:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 02:04:54 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:04:54 INFO: [Worker 0] Collision-checked 230 grasps in 0.071s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:04:55 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.815s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 02:04:55 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.773[m] 89.058[deg]	[grasp_sample.py: 539]
+05/15 02:04:55 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 02:04:55 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 02:04:55 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 02:04:55 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:04:55 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 02:05:05 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_307	[pipeline.py: 1174]
+05/15 02:05:05 INFO: [Worker 0] Batching and saving trajectory data for chunk_307 batch 3/3: 1 episodes	[pipeline.py: 238]
+05/15 02:05:05 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 02:05:10 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_307	[pipeline.py: 1174]
+05/15 02:05:10 INFO: [Worker 0] Batching and saving trajectory data for chunk_307 batch 1/3: 1 episodes	[pipeline.py: 238]
+05/15 02:05:10 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 02:05:17 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 02:05:17 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_307	[save_utils.py: 785]
+05/15 02:05:17 INFO: [Worker 0] Successfully saved trajectory data for chunk_307 in 12.68s (batch: 3.08s, save: 9.60s)	[pipeline.py: 300]
+05/15 02:05:18 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=0.83s:
+  episode_total: mean=166.76s, total=166.76s, count=1, min=166761.9ms, max=166761.9ms
+  sensor_polling: mean=413.7ms, total=124.12s, count=300, min=305.6ms, max=575.7ms
+  save_trajectories: mean=9.60s, total=9.60s, count=1, min=9601.4ms, max=9601.4ms
+  physics_step: mean=23.8ms, total=7.14s, count=300, min=14.1ms, max=33.1ms
+  save_batch_prep: mean=3.08s, total=3.08s, count=1, min=3078.7ms, max=3078.7ms
+  task_sampling: mean=828.8ms, total=828.8ms, count=1, min=828.8ms, max=828.8ms
+  task_specific_sample: mean=817.7ms, total=817.7ms, count=1, min=817.7ms, max=817.7ms
+  scene_randomize: mean=8.9ms, total=8.9ms, count=1, min=8.9ms, max=8.9ms
+  mj_forward_sync: mean=1.1ms, total=1.1ms, count=1, min=1.1ms, max=1.1ms
+  policy_setup: mean=51.4us, total=0.1ms, count=1, min=0.1ms, max=0.1ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 02:05:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 02:05:19 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 02:05:19 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 02:05:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:05:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:05:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:05:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:05:19 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 02:05:19 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 02:05:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 02:05:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.032m, effective arm-mount z=0.892m (base_body_z=0.032m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 02:05:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 02:05:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 02:05:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.032314m	[env.py: 870]
+05/15 02:05:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 02:05:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 02:05:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 02:05:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -170.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:05:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 120.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:05:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 121.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:05:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 160.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:05:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 109.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:05:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.06589098 -0.62999238  0.03231355] yaw=-158.4deg	[env.py: 1019]
+05/15 02:05:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 02:05:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.26282189 -0.40208055  0.03231355] yaw=-152.6deg	[env.py: 1019]
+05/15 02:05:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 02:05:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.29610697 -0.28395956  0.03231355] yaw=-171.7deg	[env.py: 1019]
+05/15 02:05:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 02:05:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 02:05:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=542.0ms, total=542.0ms	[env.py: 1075]
+05/15 02:05:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.066, -0.630, 0.032)	[env.py: 1079]
+05/15 02:05:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -158.4 deg	[env.py: 1082]
+05/15 02:05:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.025m	[env.py: 1086]
+05/15 02:05:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:05:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:05:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:05:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:05:20 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 02:05:20 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
+05/15 02:05:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s	[base_object_manipulation_planner_policy.py: 377]
+05/15 02:05:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 02:05:20 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:05:20 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:05:21 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.191s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 02:05:21 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.744[m] 97.004[deg]	[grasp_sample.py: 539]
+05/15 02:05:21 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 02:05:22 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 02:05:22 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:05:22 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 02:05:24 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 02:05:24 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_307	[save_utils.py: 785]
+05/15 02:05:24 INFO: [Worker 0] Successfully saved trajectory data for chunk_307 in 13.71s (batch: 3.08s, save: 10.63s)	[pipeline.py: 300]
+05/15 02:05:25 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=0.78s:
+  episode_total: mean=173.74s, total=173.74s, count=1, min=173741.2ms, max=173741.2ms
+  sensor_polling: mean=436.0ms, total=130.80s, count=300, min=328.7ms, max=613.2ms
+  save_trajectories: mean=10.63s, total=10.63s, count=1, min=10633.3ms, max=10633.3ms
+  physics_step: mean=24.0ms, total=7.20s, count=300, min=17.3ms, max=30.8ms
+  save_batch_prep: mean=3.08s, total=3.08s, count=1, min=3081.6ms, max=3081.6ms
+  task_sampling: mean=779.7ms, total=779.7ms, count=1, min=779.7ms, max=779.7ms
+  task_specific_sample: mean=774.7ms, total=774.7ms, count=1, min=774.7ms, max=774.7ms
+  scene_randomize: mean=3.5ms, total=3.5ms, count=1, min=3.5ms, max=3.5ms
+  mj_forward_sync: mean=611.4us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=21.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 02:05:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 02:05:26 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 02:05:26 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 02:05:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:05:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:05:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:05:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:05:26 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 02:05:26 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 02:05:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 02:05:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.022m, effective arm-mount z=0.882m (base_body_z=0.022m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 02:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 02:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 02:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.021920m	[env.py: 870]
+05/15 02:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 02:05:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 02:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 02:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 93.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 112.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -74.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 125.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 137.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.30755172 -1.19781559  0.02192008] yaw=161.4deg	[env.py: 1019]
+05/15 02:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 02:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.07996949 -0.93379207  0.02192008] yaw=182.2deg	[env.py: 1019]
+05/15 02:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 02:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.32019411 -0.21989245  0.02192008] yaw=-129.4deg	[env.py: 1019]
+05/15 02:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 02:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 02:05:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=309.9ms, total=309.9ms	[env.py: 1075]
+05/15 02:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.308, -1.198, 0.022)	[env.py: 1079]
+05/15 02:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 161.4 deg	[env.py: 1082]
+05/15 02:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.857m	[env.py: 1086]
+05/15 02:05:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:05:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:05:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:05:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:05:27 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 02:05:27 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
+05/15 02:05:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.100s	[base_object_manipulation_planner_policy.py: 377]
+05/15 02:05:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 02:05:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:05:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:05:28 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.693s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 02:05:28 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.510[m] 112.924[deg]	[grasp_sample.py: 539]
+05/15 02:05:28 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 02:05:28 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 02:05:28 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:05:28 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 02:05:57 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:06:06 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 02:06:09 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:06:16 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:06:25 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:06:25 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 02:06:29 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:06:32 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 02:06:35 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:06:55 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 02:07:11 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_307	[pipeline.py: 1174]
+05/15 02:07:11 INFO: [Worker 0] Batching and saving trajectory data for chunk_307 batch 2/3: 1 episodes	[pipeline.py: 238]
+05/15 02:07:11 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 02:07:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:07:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:07:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:07:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:07:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:07:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:07:23 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 02:07:25 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 02:07:25 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_307	[save_utils.py: 785]
+05/15 02:07:25 INFO: [Worker 0] Successfully saved trajectory data for chunk_307 in 13.15s (batch: 4.45s, save: 8.70s)	[pipeline.py: 300]
+05/15 02:07:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:07:25 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=0.94s:
+  episode_total: mean=77.26s, total=154.51s, count=2, min=2306.9ms, max=152206.0ms
+  sensor_polling: mean=370.1ms, total=111.03s, count=300, min=299.0ms, max=665.5ms
+  save_trajectories: mean=8.70s, total=8.70s, count=1, min=8698.0ms, max=8698.0ms
+  physics_step: mean=22.4ms, total=6.71s, count=300, min=17.2ms, max=51.8ms
+  save_batch_prep: mean=4.45s, total=4.45s, count=1, min=4451.5ms, max=4451.5ms
+  task_sampling: mean=467.7ms, total=935.4ms, count=2, min=435.0ms, max=500.4ms
+  task_specific_sample: mean=464.1ms, total=928.3ms, count=2, min=431.5ms, max=496.7ms
+  scene_randomize: mean=2.0ms, total=4.0ms, count=2, min=1.8ms, max=2.2ms
+  mj_forward_sync: mean=389.2us, total=0.8ms, count=2, min=0.4ms, max=0.4ms
+  policy_setup: mean=18.4us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 02:07:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:07:26 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/15 02:07:26 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/15 02:07:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 02:07:26 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:07:26 INFO: [Worker 0] Collision-checked 230 grasps in 0.062s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:07:27 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.487s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 02:07:27 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.033[m] 0.346[deg]	[grasp_sample.py: 539]
+05/15 02:07:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 02:07:27 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 02:07:27 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 02:07:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:07:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:07:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:07:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:07:27 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 02:07:27 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 02:07:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 02:07:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.006m, effective arm-mount z=0.854m (base_body_z=-0.006m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 02:07:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 02:07:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 02:07:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.006047m	[env.py: 870]
+05/15 02:07:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 02:07:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 02:07:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 02:07:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.04206724 -0.64307041 -0.00604723] yaw=-151.3deg	[env.py: 1019]
+05/15 02:07:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 02:07:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.50001075  0.07167123 -0.00604723] yaw=-106.1deg	[env.py: 1019]
+05/15 02:07:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 02:07:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 130.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:07:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -175.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:07:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 162.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:07:28 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 02:07:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.07225173 -0.26282222 -0.00604723] yaw=-162.0deg	[env.py: 1019]
+05/15 02:07:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 02:07:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 02:07:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=242.9ms, total=243.0ms	[env.py: 1075]
+05/15 02:07:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.042, -0.643, -0.006)	[env.py: 1079]
+05/15 02:07:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -151.3 deg	[env.py: 1082]
+05/15 02:07:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.130m	[env.py: 1086]
+05/15 02:07:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:07:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:07:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:07:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:07:28 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 02:07:28 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
+05/15 02:07:28 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 02:07:28 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:07:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.136s	[base_object_manipulation_planner_policy.py: 377]
+05/15 02:07:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 02:07:28 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:07:28 INFO: [Worker 0] Collision-checked 230 grasps in 0.059s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:07:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:07:30 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.188s, found feasible grasp: False	[grasp_sample.py: 500]
+05/15 02:07:30 ERROR: [Worker 0] Worker 0 house 1 episode 4 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/15 02:07:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:07:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 02:07:32 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 02:07:32 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 02:07:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:07:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:07:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:07:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:07:32 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 02:07:32 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 02:07:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 02:07:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.085m, effective arm-mount z=0.775m (base_body_z=-0.085m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 02:07:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 02:07:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 02:07:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.085287m	[env.py: 870]
+05/15 02:07:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 02:07:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 02:07:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 02:07:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -179.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:07:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -154.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:07:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.53308944 -0.14958044 -0.08528702] yaw=-134.5deg	[env.py: 1019]
+05/15 02:07:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 02:07:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 104.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:07:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -171.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:07:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.14696145 -0.59859812 -0.08528702] yaw=-188.4deg	[env.py: 1019]
+05/15 02:07:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 02:07:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.49447809 -0.19133474 -0.08528702] yaw=-130.6deg	[env.py: 1019]
+05/15 02:07:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 02:07:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 02:07:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=142.3ms, total=142.3ms	[env.py: 1075]
+05/15 02:07:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.533, -0.150, -0.085)	[env.py: 1079]
+05/15 02:07:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -134.5 deg	[env.py: 1082]
+05/15 02:07:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.859m	[env.py: 1086]
+05/15 02:07:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:07:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:07:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:07:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:07:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:07:33 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 02:07:33 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
+05/15 02:07:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.055s	[base_object_manipulation_planner_policy.py: 377]
+05/15 02:07:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 02:07:33 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:07:33 INFO: [Worker 0] Collision-checked 230 grasps in 0.087s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:07:34 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.702s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 02:07:34 INFO: [Worker 0] Feasible grasp found 124 (originally 9): w/ 0.636[m] 113.865[deg]	[grasp_sample.py: 539]
+05/15 02:07:34 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 02:07:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:07:34 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 02:07:34 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:07:34 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 02:07:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:07:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:07:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:07:39 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_307	[pipeline.py: 1174]
+05/15 02:07:39 INFO: [Worker 0] Batching and saving trajectory data for chunk_307 batch 3/3: 1 episodes	[pipeline.py: 238]
+05/15 02:07:39 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 02:07:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:07:40 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/15 02:07:40 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/15 02:07:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 02:07:40 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:07:40 INFO: [Worker 0] Collision-checked 230 grasps in 0.061s, found 82 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:07:40 INFO: [Worker 0] Feasibility-checked 82 grasps in 0.486s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 02:07:40 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.033[m] 0.306[deg]	[grasp_sample.py: 539]
+05/15 02:07:41 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 02:07:42 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 02:07:42 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:07:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:07:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:07:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:07:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:07:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:07:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:07:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:07:51 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 02:07:51 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_307	[save_utils.py: 785]
+05/15 02:07:51 INFO: [Worker 0] Successfully saved trajectory data for chunk_307 in 11.70s (batch: 3.01s, save: 8.69s)	[pipeline.py: 300]
+05/15 02:07:51 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.78s:
+  episode_total: mean=152.19s, total=152.19s, count=1, min=152187.6ms, max=152187.6ms
+  sensor_polling: mean=374.3ms, total=112.30s, count=300, min=287.9ms, max=631.0ms
+  save_trajectories: mean=8.69s, total=8.69s, count=1, min=8690.9ms, max=8690.9ms
+  physics_step: mean=22.3ms, total=6.68s, count=300, min=17.2ms, max=49.8ms
+  save_batch_prep: mean=3.01s, total=3.01s, count=1, min=3012.2ms, max=3012.2ms
+  task_sampling: mean=779.1ms, total=779.1ms, count=1, min=779.1ms, max=779.1ms
+  task_specific_sample: mean=775.5ms, total=775.5ms, count=1, min=775.5ms, max=775.5ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=401.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=24.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 02:07:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:07:52 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/15 02:07:52 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/15 02:07:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 02:07:52 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:07:52 INFO: [Worker 0] Collision-checked 230 grasps in 0.080s, found 82 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:07:52 INFO: [Worker 0] Feasibility-checked 82 grasps in 0.420s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 02:07:52 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.033[m] 0.306[deg]	[grasp_sample.py: 539]
+05/15 02:07:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 02:07:53 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 02:07:53 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 02:07:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:07:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:07:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:07:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:07:53 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 02:07:53 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 02:07:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 02:07:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.011m, effective arm-mount z=0.871m (base_body_z=0.011m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 02:07:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 02:07:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 02:07:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.010728m	[env.py: 870]
+05/15 02:07:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 02:07:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 02:07:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 02:07:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 144.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:07:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -52.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:07:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 99.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:07:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 88.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:07:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.16839597 -0.06413331  0.01072828] yaw=-138.0deg	[env.py: 1019]
+05/15 02:07:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 02:07:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 02:07:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=252.2ms, total=252.3ms	[env.py: 1075]
+05/15 02:07:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.168, -0.064, 0.011)	[env.py: 1079]
+05/15 02:07:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -138.0 deg	[env.py: 1082]
+05/15 02:07:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.177m	[env.py: 1086]
+05/15 02:07:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:07:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:07:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:07:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:07:53 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 02:07:53 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
+05/15 02:07:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.110s	[base_object_manipulation_planner_policy.py: 377]
+05/15 02:07:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 02:07:53 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:07:53 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:07:53 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 02:07:54 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 02:07:54 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:07:55 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.784s, found feasible grasp: False	[grasp_sample.py: 500]
+05/15 02:07:55 ERROR: [Worker 0] Worker 0 house 1 episode 5 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/15 02:07:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:07:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 02:07:56 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 02:07:56 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 02:07:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:07:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:07:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:07:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:07:56 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 02:07:56 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 02:07:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 02:07:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.051m, effective arm-mount z=0.911m (base_body_z=0.051m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 02:07:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 02:07:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 02:07:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.050502m	[env.py: 870]
+05/15 02:07:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 02:07:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 02:07:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 02:07:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 144.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:07:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.39125422 -0.34630417  0.05050246] yaw=-121.1deg	[env.py: 1019]
+05/15 02:07:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 02:07:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -36.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:07:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 116.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:07:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 150.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:07:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:07:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 02:07:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=212.9ms, total=212.9ms	[env.py: 1075]
+05/15 02:07:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.391, -0.346, 0.051)	[env.py: 1079]
+05/15 02:07:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -121.1 deg	[env.py: 1082]
+05/15 02:07:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.829m	[env.py: 1086]
+05/15 02:07:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:07:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:07:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:07:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:07:57 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 02:07:57 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
+05/15 02:07:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.052s	[base_object_manipulation_planner_policy.py: 377]
+05/15 02:07:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 02:07:57 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:07:57 INFO: [Worker 0] Collision-checked 230 grasps in 0.056s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:07:58 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.816s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 02:07:58 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.423[m] 62.322[deg]	[grasp_sample.py: 539]
+05/15 02:07:58 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 02:07:58 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 02:07:58 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:07:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:08:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:08:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:08:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:08:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:08:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:08:06 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/15 02:08:06 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
+05/15 02:08:07 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 02:08:25 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_307	[pipeline.py: 1174]
+05/15 02:08:25 INFO: [Worker 0] Batching and saving trajectory data for chunk_307 batch 1/3: 1 episodes	[pipeline.py: 238]
+05/15 02:08:25 INFO: [Worker 0] Preparing episode data: 270 timesteps	[save_utils.py: 278]
+05/15 02:08:25 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:08:27 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:08:33 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 02:08:33 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 02:08:35 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 02:08:35 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_307	[save_utils.py: 785]
+05/15 02:08:35 INFO: [Worker 0] Successfully saved trajectory data for chunk_307 in 10.01s (batch: 2.70s, save: 7.31s)	[pipeline.py: 300]
+05/15 02:08:35 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=0.58s:
+  episode_total: mean=189.31s, total=189.31s, count=1, min=189308.1ms, max=189308.1ms
+  sensor_polling: mean=423.7ms, total=113.98s, count=269, min=293.8ms, max=701.1ms
+  save_trajectories: mean=7.31s, total=7.31s, count=1, min=7313.5ms, max=7313.5ms
+  physics_step: mean=22.2ms, total=5.98s, count=269, min=12.0ms, max=32.0ms
+  save_batch_prep: mean=2.70s, total=2.70s, count=1, min=2699.6ms, max=2699.6ms
+  task_sampling: mean=578.4ms, total=578.4ms, count=1, min=578.4ms, max=578.4ms
+  task_specific_sample: mean=573.7ms, total=573.7ms, count=1, min=573.7ms, max=573.7ms
+  scene_randomize: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms
+  mj_forward_sync: mean=529.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=25.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 02:08:36 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:08:37 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/15 02:08:37 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/15 02:08:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 02:08:37 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:08:37 INFO: [Worker 0] Collision-checked 230 grasps in 0.064s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:08:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 02:08:37 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 02:08:37 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 02:08:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:08:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:08:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:08:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:08:37 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 02:08:37 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 02:08:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 02:08:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.010m, effective arm-mount z=0.850m (base_body_z=-0.010m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 02:08:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 02:08:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 02:08:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.010460m	[env.py: 870]
+05/15 02:08:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 02:08:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 02:08:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 02:08:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.00535871 -1.1568381  -0.01046027] yaw=158.2deg	[env.py: 1019]
+05/15 02:08:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 02:08:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.33322853 -0.35173279 -0.01046027] yaw=-174.0deg	[env.py: 1019]
+05/15 02:08:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 02:08:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -174.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:08:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.12409811 -1.31040716 -0.01046027] yaw=166.0deg	[env.py: 1019]
+05/15 02:08:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 02:08:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 02:08:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=147.5ms, total=147.6ms	[env.py: 1075]
+05/15 02:08:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.005, -1.157, -0.010)	[env.py: 1079]
+05/15 02:08:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 158.2 deg	[env.py: 1082]
+05/15 02:08:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.132m	[env.py: 1086]
+05/15 02:08:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:08:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:08:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:08:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:08:37 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 02:08:37 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
+05/15 02:08:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.087s	[base_object_manipulation_planner_policy.py: 377]
+05/15 02:08:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 02:08:37 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:08:37 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:08:37 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.754s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 02:08:37 INFO: [Worker 0] Feasible grasp found 124 (originally 9): w/ 0.049[m] 12.894[deg]	[grasp_sample.py: 539]
+05/15 02:08:37 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 02:08:38 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 02:08:38 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:08:39 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.824s, found feasible grasp: False	[grasp_sample.py: 500]
+05/15 02:08:39 ERROR: [Worker 0] Worker 0 house 1 episode 3 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/15 02:08:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 02:08:41 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 02:08:41 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 02:08:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:08:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:08:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:08:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:08:41 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 02:08:41 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 02:08:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 02:08:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.013m, effective arm-mount z=0.873m (base_body_z=0.013m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 02:08:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 02:08:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 02:08:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.012514m	[env.py: 870]
+05/15 02:08:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 02:08:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 02:08:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 02:08:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 158.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:08:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.08430744 -0.52520591  0.01251447] yaw=-183.2deg	[env.py: 1019]
+05/15 02:08:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 02:08:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -53.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:08:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -80.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:08:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -170.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:08:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.09590463 -0.65942775  0.01251447] yaw=-145.4deg	[env.py: 1019]
+05/15 02:08:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 02:08:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.35337206 -0.4130233   0.01251447] yaw=-158.9deg	[env.py: 1019]
+05/15 02:08:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 02:08:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 02:08:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=246.4ms, total=246.4ms	[env.py: 1075]
+05/15 02:08:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.084, -0.525, 0.013)	[env.py: 1079]
+05/15 02:08:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -183.2 deg	[env.py: 1082]
+05/15 02:08:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.032m	[env.py: 1086]
+05/15 02:08:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:08:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:08:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:08:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:08:41 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 02:08:41 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
+05/15 02:08:41 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:08:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.049s	[base_object_manipulation_planner_policy.py: 377]
+05/15 02:08:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 02:08:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:08:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.056s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:08:43 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.560s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 02:08:43 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.542[m] 71.063[deg]	[grasp_sample.py: 539]
+05/15 02:08:43 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 02:08:43 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 02:08:43 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:08:44 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 02:08:50 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 02:08:54 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/15 02:08:54 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/15 02:08:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 02:08:54 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:08:54 INFO: [Worker 0] Collision-checked 230 grasps in 0.063s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:08:54 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.697s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 02:08:54 INFO: [Worker 0] Feasible grasp found 124 (originally 9): w/ 0.050[m] 13.748[deg]	[grasp_sample.py: 539]
+05/15 02:08:54 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 02:08:55 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 02:08:55 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:08:58 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:09:06 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 02:09:09 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/15 02:09:09 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/15 02:09:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 02:09:09 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:09:09 INFO: [Worker 0] Collision-checked 230 grasps in 0.061s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:09:10 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.632s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 02:09:10 INFO: [Worker 0] Feasible grasp found 124 (originally 9): w/ 0.049[m] 7.767[deg]	[grasp_sample.py: 539]
+05/15 02:09:10 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 02:09:10 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 02:09:10 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:09:15 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:09:22 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 02:09:25 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/15 02:09:25 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
+05/15 02:09:26 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
+05/15 02:09:26 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=False episode_total=0.91s:
+  episode_total: mean=58.09s, total=116.18s, count=2, min=2894.4ms, max=113289.4ms
+  sensor_polling: mean=361.6ms, total=101.61s, count=281, min=304.6ms, max=533.6ms
+  physics_step: mean=20.9ms, total=5.86s, count=281, min=14.2ms, max=33.8ms
+  task_sampling: mean=455.9ms, total=911.8ms, count=2, min=409.1ms, max=502.7ms
+  task_specific_sample: mean=450.3ms, total=900.6ms, count=2, min=405.4ms, max=495.2ms
+  scene_randomize: mean=3.4ms, total=6.9ms, count=2, min=1.2ms, max=5.7ms
+  mj_forward_sync: mean=472.0us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
+  policy_setup: mean=22.8us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 02:09:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 02:09:28 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 02:09:28 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 02:09:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:09:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:09:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:09:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:09:28 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 02:09:28 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 02:09:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 02:09:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.081m, effective arm-mount z=0.941m (base_body_z=0.081m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 02:09:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 02:09:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 02:09:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.081016m	[env.py: 870]
+05/15 02:09:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 02:09:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 02:09:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 02:09:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.05161008 -0.73301648  0.0810159 ] yaw=-189.1deg	[env.py: 1019]
+05/15 02:09:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 02:09:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 113.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:09:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 148.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:09:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 146.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:09:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -81.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:09:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.21235077 -0.76694289  0.0810159 ] yaw=-169.6deg	[env.py: 1019]
+05/15 02:09:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 02:09:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.26771204 -0.28389648  0.0810159 ] yaw=-124.9deg	[env.py: 1019]
+05/15 02:09:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 02:09:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 02:09:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=171.0ms, total=171.1ms	[env.py: 1075]
+05/15 02:09:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.052, -0.733, 0.081)	[env.py: 1079]
+05/15 02:09:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -189.1 deg	[env.py: 1082]
+05/15 02:09:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.129m	[env.py: 1086]
+05/15 02:09:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:09:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:09:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:09:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:09:28 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 02:09:28 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
+05/15 02:09:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s	[base_object_manipulation_planner_policy.py: 377]
+05/15 02:09:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 02:09:28 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:09:28 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:09:30 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:09:31 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.352s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 02:09:31 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.743[m] 99.464[deg]	[grasp_sample.py: 539]
+05/15 02:09:31 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 02:09:31 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 02:09:31 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:09:31 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 02:09:39 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 02:09:44 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:09:57 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 02:10:12 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_307	[pipeline.py: 1174]
+05/15 02:10:12 INFO: [Worker 0] Batching and saving trajectory data for chunk_307 batch 3/3: 1 episodes	[pipeline.py: 238]
+05/15 02:10:12 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 02:10:26 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 02:10:26 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_307	[save_utils.py: 785]
+05/15 02:10:26 INFO: [Worker 0] Successfully saved trajectory data for chunk_307 in 13.58s (batch: 3.04s, save: 10.54s)	[pipeline.py: 300]
+05/15 02:10:27 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=0.86s:
+  episode_total: mean=76.31s, total=152.63s, count=2, min=2415.2ms, max=150211.7ms
+  sensor_polling: mean=367.8ms, total=110.33s, count=300, min=294.7ms, max=584.3ms
+  save_trajectories: mean=10.54s, total=10.54s, count=1, min=10537.7ms, max=10537.7ms
+  physics_step: mean=22.3ms, total=6.69s, count=300, min=13.8ms, max=28.9ms
+  save_batch_prep: mean=3.04s, total=3.04s, count=1, min=3039.1ms, max=3039.1ms
+  task_sampling: mean=429.1ms, total=858.3ms, count=2, min=400.8ms, max=457.5ms
+  task_specific_sample: mean=425.8ms, total=851.6ms, count=2, min=397.7ms, max=453.9ms
+  scene_randomize: mean=1.7ms, total=3.5ms, count=2, min=1.0ms, max=2.5ms
+  mj_forward_sync: mean=395.2us, total=0.8ms, count=2, min=0.4ms, max=0.4ms
+  policy_setup: mean=20.1us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 02:10:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 02:10:28 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 02:10:28 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 02:10:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:10:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:10:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:10:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:10:28 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 02:10:28 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 02:10:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 02:10:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.066m, effective arm-mount z=0.926m (base_body_z=0.066m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 02:10:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 02:10:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 02:10:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.066418m	[env.py: 870]
+05/15 02:10:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 02:10:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 02:10:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 02:10:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 1.02990851e-03 -1.26717286e+00  6.64181712e-02] yaw=177.6deg	[env.py: 1019]
+05/15 02:10:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 02:10:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -69.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:10:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -56.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:10:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 97.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:10:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.53027772 -0.19977656  0.06641817] yaw=-103.9deg	[env.py: 1019]
+05/15 02:10:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 02:10:28 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:10:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.25976575  0.00932006  0.06641817] yaw=-146.2deg	[env.py: 1019]
+05/15 02:10:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 02:10:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 02:10:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=380.5ms, total=380.5ms	[env.py: 1075]
+05/15 02:10:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.001, -1.267, 0.066)	[env.py: 1079]
+05/15 02:10:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 177.6 deg	[env.py: 1082]
+05/15 02:10:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.166m	[env.py: 1086]
+05/15 02:10:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:10:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:10:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:10:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:10:29 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 02:10:29 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
+05/15 02:10:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.078s	[base_object_manipulation_planner_policy.py: 377]
+05/15 02:10:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 02:10:29 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:10:29 INFO: [Worker 0] Collision-checked 230 grasps in 0.076s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:10:31 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.646s, found feasible grasp: False	[grasp_sample.py: 500]
+05/15 02:10:31 ERROR: [Worker 0] Worker 0 house 1 episode 7 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/15 02:10:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 02:10:32 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 02:10:32 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 02:10:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:10:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:10:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:10:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:10:32 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 02:10:32 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 02:10:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 02:10:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.037m, effective arm-mount z=0.897m (base_body_z=0.037m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 02:10:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 02:10:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 02:10:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.037224m	[env.py: 870]
+05/15 02:10:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 02:10:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 02:10:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 02:10:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.13239052 -0.11461486  0.03722353] yaw=-125.5deg	[env.py: 1019]
+05/15 02:10:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 02:10:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 154.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:10:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -45.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:10:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -160.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:10:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.20842843 -0.88054493  0.03722353] yaw=201.4deg	[env.py: 1019]
+05/15 02:10:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 02:10:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.08419003 -1.04572578  0.03722353] yaw=155.8deg	[env.py: 1019]
+05/15 02:10:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 02:10:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 02:10:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=355.7ms, total=355.7ms	[env.py: 1075]
+05/15 02:10:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.132, -0.115, 0.037)	[env.py: 1079]
+05/15 02:10:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -125.5 deg	[env.py: 1082]
+05/15 02:10:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.174m	[env.py: 1086]
+05/15 02:10:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:10:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:10:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:10:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:10:32 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 02:10:32 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
+05/15 02:10:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s	[base_object_manipulation_planner_policy.py: 377]
+05/15 02:10:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 02:10:32 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:10:33 INFO: [Worker 0] Collision-checked 230 grasps in 0.076s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:10:34 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.672s, found feasible grasp: False	[grasp_sample.py: 500]
+05/15 02:10:34 ERROR: [Worker 0] Worker 0 house 1 episode 8 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/15 02:10:35 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 02:10:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 02:10:35 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 02:10:35 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 02:10:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:10:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:10:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:10:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:10:35 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 02:10:35 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 02:10:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 02:10:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.089m, effective arm-mount z=0.771m (base_body_z=-0.089m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 02:10:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 02:10:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 02:10:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.088599m	[env.py: 870]
+05/15 02:10:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 02:10:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 02:10:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 02:10:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 97.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:10:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.04576978 -1.19143846 -0.08859941] yaw=137.1deg	[env.py: 1019]
+05/15 02:10:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 02:10:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -72.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:10:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.04216657 -0.94907002 -0.08859941] yaw=173.0deg	[env.py: 1019]
+05/15 02:10:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 02:10:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.22201812 -0.35735688 -0.08859941] yaw=-162.0deg	[env.py: 1019]
+05/15 02:10:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 02:10:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 02:10:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=178.9ms, total=178.9ms	[env.py: 1075]
+05/15 02:10:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.046, -1.191, -0.089)	[env.py: 1079]
+05/15 02:10:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 137.1 deg	[env.py: 1082]
+05/15 02:10:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.181m	[env.py: 1086]
+05/15 02:10:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:10:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:10:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:10:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:10:36 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 02:10:36 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
+05/15 02:10:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s	[base_object_manipulation_planner_policy.py: 377]
+05/15 02:10:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 02:10:36 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:10:36 INFO: [Worker 0] Collision-checked 230 grasps in 0.066s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:10:38 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.845s, found feasible grasp: False	[grasp_sample.py: 500]
+05/15 02:10:38 ERROR: [Worker 0] Worker 0 house 1 episode 9 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/15 02:10:39 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:10:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 02:10:39 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 02:10:39 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 02:10:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:10:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:10:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:10:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:10:39 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 02:10:39 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 02:10:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 02:10:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.003m, effective arm-mount z=0.863m (base_body_z=0.003m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 02:10:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 02:10:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 02:10:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.002576m	[env.py: 870]
+05/15 02:10:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 02:10:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 02:10:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 02:10:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 148.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:10:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 122.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:10:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.01946438 -1.13222837  0.00257558] yaw=166.2deg	[env.py: 1019]
+05/15 02:10:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 02:10:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 161.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:10:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.39168982 -0.20962591  0.00257558] yaw=-123.9deg	[env.py: 1019]
+05/15 02:10:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 02:10:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.01840329 -1.34890313  0.00257558] yaw=149.4deg	[env.py: 1019]
+05/15 02:10:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 02:10:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 02:10:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=139.2ms, total=139.3ms	[env.py: 1075]
+05/15 02:10:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.019, -1.132, 0.003)	[env.py: 1079]
+05/15 02:10:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 166.2 deg	[env.py: 1082]
+05/15 02:10:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.139m	[env.py: 1086]
+05/15 02:10:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:10:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:10:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:10:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:10:39 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 02:10:39 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
+05/15 02:10:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.053s	[base_object_manipulation_planner_policy.py: 377]
+05/15 02:10:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 02:10:40 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:10:40 INFO: [Worker 0] Collision-checked 230 grasps in 0.071s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:10:41 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.721s, found feasible grasp: False	[grasp_sample.py: 500]
+05/15 02:10:41 ERROR: [Worker 0] Worker 0 house 1 episode 10 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/15 02:10:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 02:10:44 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 02:10:44 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 02:10:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:10:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:10:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:10:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:10:44 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 02:10:44 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 02:10:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 02:10:44 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.030m, effective arm-mount z=0.890m (base_body_z=0.030m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 02:10:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 02:10:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 02:10:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.029979m	[env.py: 870]
+05/15 02:10:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 02:10:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 02:10:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 02:10:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -47.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:10:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.24161883 -0.61737293  0.02997891] yaw=-182.8deg	[env.py: 1019]
+05/15 02:10:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 02:10:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 121.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:10:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -58.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:10:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 160.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:10:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.04910278 -0.77643427  0.02997891] yaw=-180.6deg	[env.py: 1019]
+05/15 02:10:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 02:10:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.51337756 -0.15197097  0.02997891] yaw=-118.0deg	[env.py: 1019]
+05/15 02:10:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 02:10:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 02:10:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=142.9ms, total=142.9ms	[env.py: 1075]
+05/15 02:10:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.242, -0.617, 0.030)	[env.py: 1079]
+05/15 02:10:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -182.8 deg	[env.py: 1082]
+05/15 02:10:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.856m	[env.py: 1086]
+05/15 02:10:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:10:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:10:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:10:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:10:44 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 02:10:44 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
+05/15 02:10:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s	[base_object_manipulation_planner_policy.py: 377]
+05/15 02:10:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 02:10:44 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:10:44 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:10:45 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.562s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 02:10:45 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.627[m] 121.561[deg]	[grasp_sample.py: 539]
+05/15 02:10:45 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 02:10:45 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 02:10:45 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:10:46 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 02:10:53 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 02:11:08 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_307	[pipeline.py: 1174]
+05/15 02:11:08 INFO: [Worker 0] Batching and saving trajectory data for chunk_307 batch 1/3: 1 episodes	[pipeline.py: 238]
+05/15 02:11:08 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 02:11:19 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 02:11:19 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_307	[save_utils.py: 785]
+05/15 02:11:19 INFO: [Worker 0] Successfully saved trajectory data for chunk_307 in 10.96s (batch: 2.63s, save: 8.32s)	[pipeline.py: 300]
+05/15 02:11:20 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.81s:
+  episode_total: mean=80.72s, total=161.44s, count=2, min=2368.0ms, max=159072.0ms
+  sensor_polling: mean=402.6ms, total=120.77s, count=300, min=297.9ms, max=674.0ms
+  save_trajectories: mean=8.32s, total=8.32s, count=1, min=8322.4ms, max=8322.4ms
+  physics_step: mean=22.6ms, total=6.77s, count=300, min=17.4ms, max=28.1ms
+  save_batch_prep: mean=2.63s, total=2.63s, count=1, min=2634.6ms, max=2634.6ms
+  task_sampling: mean=406.0ms, total=812.0ms, count=2, min=377.0ms, max=435.0ms
+  task_specific_sample: mean=401.6ms, total=803.2ms, count=2, min=371.5ms, max=431.7ms
+  scene_randomize: mean=2.0ms, total=4.0ms, count=2, min=1.1ms, max=2.9ms
+  mj_forward_sync: mean=538.5us, total=1.1ms, count=2, min=0.4ms, max=0.6ms
+  policy_setup: mean=21.1us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 02:11:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 02:11:21 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 02:11:21 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 02:11:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:11:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:11:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:11:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:11:21 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 02:11:21 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 02:11:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 02:11:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.029m, effective arm-mount z=0.889m (base_body_z=0.029m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 02:11:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 02:11:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 02:11:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.029119m	[env.py: 870]
+05/15 02:11:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 02:11:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 02:11:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 02:11:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 65.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:11:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -28.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:11:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.06258331 -0.91813343  0.02911897] yaw=151.8deg	[env.py: 1019]
+05/15 02:11:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 02:11:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 121.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:11:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -171.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:11:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.28893589 -1.02959474  0.02911897] yaw=144.5deg	[env.py: 1019]
+05/15 02:11:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 02:11:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.20326982 -0.07806097  0.02911897] yaw=-158.5deg	[env.py: 1019]
+05/15 02:11:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 02:11:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 02:11:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=216.4ms, total=216.4ms	[env.py: 1075]
+05/15 02:11:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.063, -0.918, 0.029)	[env.py: 1079]
+05/15 02:11:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 151.8 deg	[env.py: 1082]
+05/15 02:11:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.142m	[env.py: 1086]
+05/15 02:11:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:11:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:11:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:11:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:11:22 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 02:11:22 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
+05/15 02:11:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.079s	[base_object_manipulation_planner_policy.py: 377]
+05/15 02:11:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 02:11:22 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:11:22 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:11:23 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.680s, found feasible grasp: False	[grasp_sample.py: 500]
+05/15 02:11:23 ERROR: [Worker 0] Worker 0 house 1 episode 5 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/15 02:11:24 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 02:11:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 02:11:25 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 02:11:25 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 02:11:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:11:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:11:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:11:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:11:25 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 02:11:25 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 02:11:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 02:11:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.050m, effective arm-mount z=0.910m (base_body_z=0.050m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 02:11:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 02:11:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 02:11:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.049927m	[env.py: 870]
+05/15 02:11:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 02:11:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 02:11:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 02:11:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.41785834 -0.02065466  0.049927  ] yaw=-116.5deg	[env.py: 1019]
+05/15 02:11:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 02:11:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.00366025 -0.52621707  0.049927  ] yaw=-169.2deg	[env.py: 1019]
+05/15 02:11:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 02:11:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 87.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:11:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.04164425 -0.68231047  0.049927  ] yaw=-162.1deg	[env.py: 1019]
+05/15 02:11:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 02:11:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 02:11:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=200.5ms, total=200.6ms	[env.py: 1075]
+05/15 02:11:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.418, -0.021, 0.050)	[env.py: 1079]
+05/15 02:11:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -116.5 deg	[env.py: 1082]
+05/15 02:11:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.031m	[env.py: 1086]
+05/15 02:11:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:11:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:11:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:11:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:11:25 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 02:11:25 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
+05/15 02:11:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.058s	[base_object_manipulation_planner_policy.py: 377]
+05/15 02:11:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 02:11:25 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:11:25 INFO: [Worker 0] Collision-checked 230 grasps in 0.088s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:11:27 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.920s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 02:11:27 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.609[m] 91.764[deg]	[grasp_sample.py: 539]
+05/15 02:11:28 ERROR: [Worker 0] Worker 0 house 1 episode 6 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/15 02:11:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 02:11:30 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 02:11:30 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 02:11:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:11:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:11:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:11:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:11:30 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 02:11:30 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 02:11:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 02:11:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.053m, effective arm-mount z=0.913m (base_body_z=0.053m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 02:11:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 02:11:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 02:11:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.053038m	[env.py: 870]
+05/15 02:11:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 02:11:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 02:11:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 02:11:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 122.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:11:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -61.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:11:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -72.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:11:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 138.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:11:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -62.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:11:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.30077575 -1.06809484  0.05303833] yaw=158.5deg	[env.py: 1019]
+05/15 02:11:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 02:11:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 02:11:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=373.0ms, total=373.1ms	[env.py: 1075]
+05/15 02:11:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.301, -1.068, 0.053)	[env.py: 1079]
+05/15 02:11:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 158.5 deg	[env.py: 1082]
+05/15 02:11:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.814m	[env.py: 1086]
+05/15 02:11:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:11:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:11:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:11:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:11:30 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 02:11:30 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
+05/15 02:11:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.064s	[base_object_manipulation_planner_policy.py: 377]
+05/15 02:11:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 02:11:30 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:11:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:11:31 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.576s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 02:11:31 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.385[m] 89.131[deg]	[grasp_sample.py: 539]
+05/15 02:11:31 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 02:11:31 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 02:11:31 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:11:32 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 02:11:34 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:11:40 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_307	[pipeline.py: 1174]
+05/15 02:11:40 INFO: [Worker 0] Batching and saving trajectory data for chunk_307 batch 2/3: 1 episodes	[pipeline.py: 238]
+05/15 02:11:40 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 02:11:42 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 02:11:46 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:11:53 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 02:11:53 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_307	[save_utils.py: 785]
+05/15 02:11:53 INFO: [Worker 0] Successfully saved trajectory data for chunk_307 in 13.46s (batch: 4.50s, save: 8.96s)	[pipeline.py: 300]
+05/15 02:11:54 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=0.43s:
+  episode_total: mean=146.55s, total=146.55s, count=1, min=146552.5ms, max=146552.5ms
+  sensor_polling: mean=347.3ms, total=104.20s, count=300, min=298.9ms, max=576.2ms
+  save_trajectories: mean=8.96s, total=8.96s, count=1, min=8958.2ms, max=8958.2ms
+  physics_step: mean=21.5ms, total=6.44s, count=300, min=14.3ms, max=30.4ms
+  save_batch_prep: mean=4.50s, total=4.50s, count=1, min=4503.3ms, max=4503.3ms
+  task_sampling: mean=433.5ms, total=433.5ms, count=1, min=433.5ms, max=433.5ms
+  task_specific_sample: mean=430.3ms, total=430.3ms, count=1, min=430.3ms, max=430.3ms
+  scene_randomize: mean=1.9ms, total=1.9ms, count=1, min=1.9ms, max=1.9ms
+  mj_forward_sync: mean=412.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=19.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 02:11:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 02:11:56 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 02:11:56 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 02:11:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:11:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:11:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:11:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:11:56 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 02:11:56 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 02:11:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 02:11:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.049m, effective arm-mount z=0.909m (base_body_z=0.049m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 02:11:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 02:11:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 02:11:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.048808m	[env.py: 870]
+05/15 02:11:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 02:11:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 02:11:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 02:11:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 72.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:11:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 120.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:11:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 84.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:11:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 124.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:11:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.24272176 -0.86778743  0.04880802] yaw=159.3deg	[env.py: 1019]
+05/15 02:11:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 02:11:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.00407011 -1.2194798   0.04880802] yaw=181.3deg	[env.py: 1019]
+05/15 02:11:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 02:11:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.01330453 -0.83331519  0.04880802] yaw=199.3deg	[env.py: 1019]
+05/15 02:11:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 02:11:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 02:11:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=275.7ms, total=275.7ms	[env.py: 1075]
+05/15 02:11:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.243, -0.868, 0.049)	[env.py: 1079]
+05/15 02:11:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 159.3 deg	[env.py: 1082]
+05/15 02:11:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.833m	[env.py: 1086]
+05/15 02:11:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:11:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:11:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:11:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:11:57 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 02:11:57 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
+05/15 02:11:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.098s	[base_object_manipulation_planner_policy.py: 377]
+05/15 02:11:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 02:11:57 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:11:57 INFO: [Worker 0] Collision-checked 230 grasps in 0.078s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:11:58 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.667s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 02:11:58 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.539[m] 115.065[deg]	[grasp_sample.py: 539]
+05/15 02:11:58 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 02:11:58 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 02:11:58 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:11:58 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 02:12:05 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:12:15 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 02:12:19 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:12:35 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:12:41 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 02:12:44 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:12:47 INFO: [Worker 0] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 02:12:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:12:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:12:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:12:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:13:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:13:01 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_307	[pipeline.py: 1174]
+05/15 02:13:01 INFO: [Worker 0] Batching and saving trajectory data for chunk_307 batch 3/3: 1 episodes	[pipeline.py: 238]
+05/15 02:13:01 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 02:13:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:13:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:13:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:13:04 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/15 02:13:04 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/15 02:13:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 02:13:04 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:13:05 INFO: [Worker 0] Collision-checked 230 grasps in 0.059s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:13:05 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.455s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 02:13:05 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.033[m] 0.254[deg]	[grasp_sample.py: 539]
+05/15 02:13:06 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 02:13:06 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 02:13:06 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:13:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:13:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:13:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:13:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:13:13 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 02:13:13 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_307	[save_utils.py: 785]
+05/15 02:13:13 INFO: [Worker 0] Successfully saved trajectory data for chunk_307 in 11.67s (batch: 2.68s, save: 8.99s)	[pipeline.py: 300]
+05/15 02:13:13 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=2.28s:
+  episode_total: mean=31.78s, total=158.88s, count=5, min=2217.3ms, max=149508.0ms
+  sensor_polling: mean=373.7ms, total=112.11s, count=300, min=289.6ms, max=565.7ms
+  save_trajectories: mean=8.99s, total=8.99s, count=1, min=8988.5ms, max=8988.5ms
+  physics_step: mean=23.3ms, total=6.98s, count=300, min=14.6ms, max=29.4ms
+  save_batch_prep: mean=2.68s, total=2.68s, count=1, min=2677.4ms, max=2677.4ms
+  task_sampling: mean=455.8ms, total=2.28s, count=5, min=322.0ms, max=621.4ms
+  task_specific_sample: mean=452.6ms, total=2.26s, count=5, min=318.9ms, max=616.9ms
+  scene_randomize: mean=1.6ms, total=7.9ms, count=5, min=1.0ms, max=2.9ms
+  mj_forward_sync: mean=479.5us, total=2.4ms, count=5, min=0.4ms, max=0.6ms
+  policy_setup: mean=17.8us, total=0.1ms, count=5, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 02:13:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 02:13:15 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 02:13:15 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 02:13:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:13:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:13:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:13:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:13:15 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 02:13:15 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 02:13:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 02:13:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.088m, effective arm-mount z=0.948m (base_body_z=0.088m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 02:13:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 02:13:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 02:13:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.088050m	[env.py: 870]
+05/15 02:13:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 02:13:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 02:13:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 02:13:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -55.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:13:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -172.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:13:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 95.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:13:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 76.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:13:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -51.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:13:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.20241938 -0.26826493  0.08804968] yaw=-147.6deg	[env.py: 1019]
+05/15 02:13:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 02:13:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.0642151  -0.74388232  0.08804968] yaw=-202.9deg	[env.py: 1019]
+05/15 02:13:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 02:13:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.05895208 -0.91065672  0.08804968] yaw=196.8deg	[env.py: 1019]
+05/15 02:13:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 02:13:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 02:13:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=584.7ms, total=584.7ms	[env.py: 1075]
+05/15 02:13:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.202, -0.268, 0.088)	[env.py: 1079]
+05/15 02:13:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -147.6 deg	[env.py: 1082]
+05/15 02:13:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.030m	[env.py: 1086]
+05/15 02:13:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:13:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:13:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:13:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:13:16 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 02:13:16 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
+05/15 02:13:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.090s	[base_object_manipulation_planner_policy.py: 377]
+05/15 02:13:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 02:13:16 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:13:16 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:13:18 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:13:18 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.006s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 02:13:18 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.623[m] 95.099[deg]	[grasp_sample.py: 539]
+05/15 02:13:18 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 02:13:18 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 02:13:18 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:13:26 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 02:13:29 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:13:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:13:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:13:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:13:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:13:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:13:43 INFO: [Worker 0] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 02:13:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:13:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:13:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:13:47 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/15 02:13:47 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/15 02:13:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 02:13:47 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:13:47 INFO: [Worker 0] Collision-checked 230 grasps in 0.080s, found 74 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:13:49 INFO: [Worker 0] Feasibility-checked 74 grasps in 1.517s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 02:13:49 INFO: [Worker 0] Feasible grasp found 75 (originally 75): w/ 0.027[m] 3.548[deg]	[grasp_sample.py: 539]
+05/15 02:13:50 ERROR: [Worker 0] Worker 0 house 1 episode 7 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/15 02:13:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 02:13:52 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 02:13:52 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 02:13:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:13:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:13:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:13:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:13:52 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 02:13:52 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 02:13:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 02:13:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.080m, effective arm-mount z=0.780m (base_body_z=-0.080m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 02:13:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 02:13:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 02:13:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.079612m	[env.py: 870]
+05/15 02:13:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 02:13:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 02:13:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 02:13:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 70.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:13:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -57.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:13:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 119.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:13:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -65.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:13:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 139.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:13:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.11143966 -0.58908372 -0.07961244] yaw=-174.3deg	[env.py: 1019]
+05/15 02:13:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 02:13:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.23740206 -0.7777251  -0.07961244] yaw=-178.0deg	[env.py: 1019]
+05/15 02:13:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 02:13:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.01991913 -0.89397684 -0.07961244] yaw=148.7deg	[env.py: 1019]
+05/15 02:13:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 02:13:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 02:13:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=308.2ms, total=308.2ms	[env.py: 1075]
+05/15 02:13:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.111, -0.589, -0.080)	[env.py: 1079]
+05/15 02:13:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -174.3 deg	[env.py: 1082]
+05/15 02:13:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.989m	[env.py: 1086]
+05/15 02:13:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:13:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:13:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:13:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:13:52 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 02:13:52 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
+05/15 02:13:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.055s	[base_object_manipulation_planner_policy.py: 377]
+05/15 02:13:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 02:13:52 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:13:52 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:13:54 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.940s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 02:13:54 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.588[m] 85.475[deg]	[grasp_sample.py: 539]
+05/15 02:13:54 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 02:13:55 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 02:13:55 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:13:55 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 02:14:00 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_307	[pipeline.py: 1174]
+05/15 02:14:00 INFO: [Worker 0] Batching and saving trajectory data for chunk_307 batch 2/3: 1 episodes	[pipeline.py: 238]
+05/15 02:14:00 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 02:14:09 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:14:13 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 02:14:13 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_307	[save_utils.py: 785]
+05/15 02:14:13 INFO: [Worker 0] Successfully saved trajectory data for chunk_307 in 12.98s (batch: 3.76s, save: 9.22s)	[pipeline.py: 300]
+05/15 02:14:14 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=0.63s:
+  episode_total: mean=137.73s, total=137.73s, count=1, min=137729.1ms, max=137729.1ms
+  sensor_polling: mean=323.7ms, total=97.11s, count=300, min=292.5ms, max=581.3ms
+  save_trajectories: mean=9.22s, total=9.22s, count=1, min=9222.9ms, max=9222.9ms
+  physics_step: mean=20.6ms, total=6.17s, count=300, min=14.1ms, max=29.3ms
+  save_batch_prep: mean=3.76s, total=3.76s, count=1, min=3758.4ms, max=3758.4ms
+  task_sampling: mean=632.7ms, total=632.7ms, count=1, min=632.7ms, max=632.7ms
+  task_specific_sample: mean=628.4ms, total=628.4ms, count=1, min=628.4ms, max=628.4ms
+  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  mj_forward_sync: mean=455.4us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=29.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 02:14:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 02:14:16 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 02:14:16 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 02:14:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:14:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:14:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:14:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:14:16 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 02:14:16 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 02:14:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 02:14:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.054m, effective arm-mount z=0.914m (base_body_z=0.054m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 02:14:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 02:14:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 02:14:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.053871m	[env.py: 870]
+05/15 02:14:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 02:14:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 02:14:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 02:14:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 154.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:14:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.22795829 -0.68859941  0.05387113] yaw=-172.8deg	[env.py: 1019]
+05/15 02:14:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 02:14:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.52217982 -0.10807149  0.05387113] yaw=-111.7deg	[env.py: 1019]
+05/15 02:14:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 02:14:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -57.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:14:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 126.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:14:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.09172283 -1.23776132  0.05387113] yaw=153.6deg	[env.py: 1019]
+05/15 02:14:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 02:14:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 02:14:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=129.0ms, total=129.0ms	[env.py: 1075]
+05/15 02:14:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.228, -0.689, 0.054)	[env.py: 1079]
+05/15 02:14:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -172.8 deg	[env.py: 1082]
+05/15 02:14:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.856m	[env.py: 1086]
+05/15 02:14:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:14:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:14:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:14:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:14:16 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 02:14:16 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 02:14:16 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
+05/15 02:14:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.112s	[base_object_manipulation_planner_policy.py: 377]
+05/15 02:14:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 02:14:16 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:14:16 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:14:17 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.914s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 02:14:17 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.489[m] 94.747[deg]	[grasp_sample.py: 539]
+05/15 02:14:17 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 02:14:18 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 02:14:18 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:14:18 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 02:14:20 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:14:48 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:14:54 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:14:57 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 02:15:01 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 02:15:01 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:15:04 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:15:19 INFO: [Worker 0] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 02:15:35 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_307	[pipeline.py: 1174]
+05/15 02:15:35 INFO: [Worker 0] Batching and saving trajectory data for chunk_307 batch 3/3: 1 episodes	[pipeline.py: 238]
+05/15 02:15:35 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 02:15:46 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 02:15:46 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_307	[save_utils.py: 785]
+05/15 02:15:46 INFO: [Worker 0] Successfully saved trajectory data for chunk_307 in 10.96s (batch: 2.53s, save: 8.43s)	[pipeline.py: 300]
+05/15 02:15:47 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=0.81s:
+  episode_total: mean=152.00s, total=152.00s, count=1, min=151995.2ms, max=151995.2ms
+  sensor_polling: mean=375.2ms, total=112.57s, count=300, min=288.2ms, max=604.1ms
+  save_trajectories: mean=8.43s, total=8.43s, count=1, min=8426.7ms, max=8426.7ms
+  physics_step: mean=21.6ms, total=6.47s, count=300, min=17.0ms, max=27.4ms
+  save_batch_prep: mean=2.53s, total=2.53s, count=1, min=2532.3ms, max=2532.3ms
+  task_sampling: mean=808.7ms, total=808.7ms, count=1, min=808.7ms, max=808.7ms
+  task_specific_sample: mean=804.8ms, total=804.8ms, count=1, min=804.8ms, max=804.8ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=432.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=15.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 02:15:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 02:15:48 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 02:15:48 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 02:15:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:15:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:15:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:15:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:15:48 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 02:15:48 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 02:15:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 02:15:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.034m, effective arm-mount z=0.894m (base_body_z=0.034m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 02:15:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 02:15:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 02:15:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.034143m	[env.py: 870]
+05/15 02:15:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 02:15:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 02:15:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 02:15:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -161.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:15:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -170.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:15:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -31.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:15:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -60.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:15:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.18220319 -1.27806539  0.03414265] yaw=171.6deg	[env.py: 1019]
+05/15 02:15:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 02:15:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.24829699 -0.26988806  0.03414265] yaw=-153.0deg	[env.py: 1019]
+05/15 02:15:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 02:15:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.32785458 -0.31039698  0.03414265] yaw=-151.5deg	[env.py: 1019]
+05/15 02:15:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 02:15:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 02:15:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=381.5ms, total=381.5ms	[env.py: 1075]
+05/15 02:15:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.182, -1.278, 0.034)	[env.py: 1079]
+05/15 02:15:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 171.6 deg	[env.py: 1082]
+05/15 02:15:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.005m	[env.py: 1086]
+05/15 02:15:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:15:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:15:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:15:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:15:49 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 02:15:49 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
+05/15 02:15:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s	[base_object_manipulation_planner_policy.py: 377]
+05/15 02:15:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 02:15:49 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:15:49 INFO: [Worker 0] Collision-checked 230 grasps in 0.076s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:15:51 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.865s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 02:15:51 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.669[m] 86.551[deg]	[grasp_sample.py: 539]
+05/15 02:15:51 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 02:15:51 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 02:15:51 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:15:52 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 02:16:07 INFO: [Worker 0] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 02:16:10 INFO: [Worker 0] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 02:16:25 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_307	[pipeline.py: 1174]
+05/15 02:16:25 INFO: [Worker 0] Batching and saving trajectory data for chunk_307 batch 2/3: 1 episodes	[pipeline.py: 238]
+05/15 02:16:25 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 02:16:27 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_307	[pipeline.py: 1174]
+05/15 02:16:27 INFO: [Worker 0] Batching and saving trajectory data for chunk_307 batch 1/3: 1 episodes	[pipeline.py: 238]
+05/15 02:16:27 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 02:16:38 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 02:16:38 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_307	[save_utils.py: 785]
+05/15 02:16:38 INFO: [Worker 0] Successfully saved trajectory data for chunk_307 in 12.82s (batch: 3.70s, save: 9.12s)	[pipeline.py: 300]
+05/15 02:16:38 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 02:16:38 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_307	[save_utils.py: 785]
+05/15 02:16:38 INFO: [Worker 0] Successfully saved trajectory data for chunk_307 in 10.94s (batch: 2.57s, save: 8.37s)	[pipeline.py: 300]
+05/15 02:16:39 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=0.33s:
+  episode_total: mean=142.64s, total=142.64s, count=1, min=142645.0ms, max=142645.0ms
+  sensor_polling: mean=332.6ms, total=99.79s, count=300, min=301.8ms, max=646.3ms
+  save_trajectories: mean=9.12s, total=9.12s, count=1, min=9116.6ms, max=9116.6ms
+  physics_step: mean=20.5ms, total=6.15s, count=300, min=14.0ms, max=30.5ms
+  save_batch_prep: mean=3.70s, total=3.70s, count=1, min=3700.1ms, max=3700.1ms
+  task_sampling: mean=334.4ms, total=334.4ms, count=1, min=334.4ms, max=334.4ms
+  task_specific_sample: mean=330.0ms, total=330.0ms, count=1, min=330.0ms, max=330.0ms
+  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  mj_forward_sync: mean=494.5us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=25.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 02:16:39 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=1.97s:
+  episode_total: mean=78.42s, total=313.67s, count=4, min=2318.1ms, max=167276.3ms
+  sensor_polling: mean=412.2ms, total=226.70s, count=550, min=292.5ms, max=680.9ms
+  physics_step: mean=23.0ms, total=12.63s, count=550, min=12.0ms, max=32.6ms
+  save_trajectories: mean=8.37s, total=8.37s, count=1, min=8370.6ms, max=8370.6ms
+  save_batch_prep: mean=2.57s, total=2.57s, count=1, min=2573.3ms, max=2573.3ms
+  task_sampling: mean=492.9ms, total=1.97s, count=4, min=403.3ms, max=590.8ms
+  task_specific_sample: mean=489.8ms, total=1.96s, count=4, min=399.8ms, max=588.4ms
+  scene_randomize: mean=1.6ms, total=6.3ms, count=4, min=1.0ms, max=2.8ms
+  mj_forward_sync: mean=410.3us, total=1.6ms, count=4, min=0.4ms, max=0.4ms
+  policy_setup: mean=17.3us, total=0.1ms, count=4, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 02:16:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 02:16:40 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 02:16:40 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 02:16:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:16:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:16:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:16:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:16:40 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 02:16:40 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 02:16:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 02:16:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.049m, effective arm-mount z=0.811m (base_body_z=-0.049m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 02:16:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 02:16:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 02:16:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.049090m	[env.py: 870]
+05/15 02:16:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 02:16:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 02:16:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 02:16:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.49947126 -0.13311377 -0.04909006] yaw=-108.3deg	[env.py: 1019]
+05/15 02:16:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 02:16:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 131.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:16:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.22710088 -0.36232647 -0.04909006] yaw=-159.6deg	[env.py: 1019]
+05/15 02:16:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 02:16:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 137.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:16:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 73.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:16:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 02:16:40 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 02:16:40 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 02:16:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:16:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.2169881  -1.20152557 -0.04909006] yaw=159.1deg	[env.py: 1019]
+05/15 02:16:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:16:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:16:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:16:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 02:16:40 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 02:16:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 02:16:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=185.6ms, total=185.6ms	[env.py: 1075]
+05/15 02:16:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.499, -0.133, -0.049)	[env.py: 1079]
+05/15 02:16:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -108.3 deg	[env.py: 1082]
+05/15 02:16:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.893m	[env.py: 1086]
+05/15 02:16:40 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 02:16:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 02:16:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.042m, effective arm-mount z=0.902m (base_body_z=0.042m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 02:16:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 02:16:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 02:16:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.041722m	[env.py: 870]
+05/15 02:16:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 02:16:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 02:16:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:16:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:16:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:16:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:16:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 02:16:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 154.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:16:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 75.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:16:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 102.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:16:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.4455883  -0.06990138  0.04172159] yaw=-122.9deg	[env.py: 1019]
+05/15 02:16:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 02:16:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.34401961 -0.37217973  0.04172159] yaw=-130.8deg	[env.py: 1019]
+05/15 02:16:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 02:16:40 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 02:16:40 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
+05/15 02:16:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.33038727 -0.33888755  0.04172159] yaw=-136.0deg	[env.py: 1019]
+05/15 02:16:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 02:16:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 02:16:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=198.4ms, total=198.5ms	[env.py: 1075]
+05/15 02:16:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.446, -0.070, 0.042)	[env.py: 1079]
+05/15 02:16:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -122.9 deg	[env.py: 1082]
+05/15 02:16:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.976m	[env.py: 1086]
+05/15 02:16:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:16:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:16:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:16:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:16:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.100s	[base_object_manipulation_planner_policy.py: 377]
+05/15 02:16:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 02:16:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:16:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:16:41 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 02:16:41 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
+05/15 02:16:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.097s	[base_object_manipulation_planner_policy.py: 377]
+05/15 02:16:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 02:16:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:16:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:16:43 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.457s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 02:16:43 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.500[m] 86.955[deg]	[grasp_sample.py: 539]
+05/15 02:16:43 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.238s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 02:16:43 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.575[m] 112.433[deg]	[grasp_sample.py: 539]
+05/15 02:16:43 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 02:16:44 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 02:16:44 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:16:44 ERROR: [Worker 0] Worker 0 house 1 episode 9 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/15 02:16:44 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:16:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 02:16:46 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 02:16:46 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 02:16:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:16:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:16:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:16:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:16:46 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 02:16:46 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 02:16:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 02:16:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.055m, effective arm-mount z=0.915m (base_body_z=0.055m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 02:16:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 02:16:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 02:16:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.054953m	[env.py: 870]
+05/15 02:16:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 02:16:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 02:16:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 02:16:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 102.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:16:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 147.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:16:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.20091156 -0.76048358  0.05495348] yaw=-159.8deg	[env.py: 1019]
+05/15 02:16:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 02:16:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.15198589 -0.69029264  0.05495348] yaw=-170.7deg	[env.py: 1019]
+05/15 02:16:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 02:16:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 128.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:16:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.28664922 -0.52844449  0.05495348] yaw=-168.5deg	[env.py: 1019]
+05/15 02:16:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 02:16:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 02:16:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=171.9ms, total=172.0ms	[env.py: 1075]
+05/15 02:16:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.201, -0.760, 0.055)	[env.py: 1079]
+05/15 02:16:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -159.8 deg	[env.py: 1082]
+05/15 02:16:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.875m	[env.py: 1086]
+05/15 02:16:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:16:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:16:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:16:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:16:47 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 02:16:47 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
+05/15 02:16:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s	[base_object_manipulation_planner_policy.py: 377]
+05/15 02:16:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 02:16:47 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:16:47 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:16:52 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 02:16:55 INFO: [Worker 0] Feasibility-checked 88 grasps in 7.708s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 02:16:55 INFO: [Worker 0] Feasible grasp found 171 (originally 56): w/ 0.619[m] 124.224[deg]	[grasp_sample.py: 539]
+05/15 02:16:55 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 02:16:55 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 02:16:55 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:16:55 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 02:16:56 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:17:35 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:17:39 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:17:42 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 02:17:46 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:17:46 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 02:17:50 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:18:03 INFO: [Worker 0] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 02:18:18 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_307	[pipeline.py: 1174]
+05/15 02:18:18 INFO: [Worker 0] Batching and saving trajectory data for chunk_307 batch 3/3: 1 episodes	[pipeline.py: 238]
+05/15 02:18:18 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 02:18:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:18:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:18:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:18:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:18:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:18:30 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 02:18:30 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_307	[save_utils.py: 785]
+05/15 02:18:30 INFO: [Worker 0] Successfully saved trajectory data for chunk_307 in 12.00s (batch: 3.17s, save: 8.84s)	[pipeline.py: 300]
+05/15 02:18:31 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=0.63s:
+  episode_total: mean=162.76s, total=162.76s, count=1, min=162763.3ms, max=162763.3ms
+  sensor_polling: mean=408.4ms, total=122.53s, count=300, min=297.8ms, max=621.1ms
+  save_trajectories: mean=8.84s, total=8.84s, count=1, min=8836.1ms, max=8836.1ms
+  physics_step: mean=22.6ms, total=6.78s, count=300, min=17.0ms, max=60.9ms
+  save_batch_prep: mean=3.17s, total=3.17s, count=1, min=3165.7ms, max=3165.7ms
+  task_sampling: mean=629.7ms, total=629.7ms, count=1, min=629.7ms, max=629.7ms
+  task_specific_sample: mean=626.1ms, total=626.1ms, count=1, min=626.1ms, max=626.1ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=382.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=17.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 02:18:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:18:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 02:18:32 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 02:18:32 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 02:18:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:18:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:18:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:18:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:18:32 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 02:18:32 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 02:18:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 02:18:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.044m, effective arm-mount z=0.816m (base_body_z=-0.044m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 02:18:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 02:18:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 02:18:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.043955m	[env.py: 870]
+05/15 02:18:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 02:18:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 02:18:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 02:18:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 147.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:18:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 88.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:18:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 142.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:18:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.52542278 -0.20617466 -0.04395496] yaw=-132.6deg	[env.py: 1019]
+05/15 02:18:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 02:18:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 135.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:18:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.08514868 -1.28728634 -0.04395496] yaw=164.6deg	[env.py: 1019]
+05/15 02:18:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 02:18:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.38675357 -0.10705385 -0.04395496] yaw=-107.3deg	[env.py: 1019]
+05/15 02:18:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 02:18:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 02:18:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=370.5ms, total=370.6ms	[env.py: 1075]
+05/15 02:18:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.525, -0.206, -0.044)	[env.py: 1079]
+05/15 02:18:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -132.6 deg	[env.py: 1082]
+05/15 02:18:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.820m	[env.py: 1086]
+05/15 02:18:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:18:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:18:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:18:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:18:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:18:33 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 02:18:33 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
+05/15 02:18:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s	[base_object_manipulation_planner_policy.py: 377]
+05/15 02:18:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 02:18:33 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:18:33 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:18:33 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.542s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 02:18:33 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.332[m] 86.257[deg]	[grasp_sample.py: 539]
+05/15 02:18:33 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 02:18:34 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 02:18:34 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:18:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:18:34 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/15 02:18:34 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/15 02:18:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 02:18:34 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:18:34 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 02:18:34 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 84 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:18:36 INFO: [Worker 0] Feasibility-checked 84 grasps in 2.060s, found feasible grasp: False	[grasp_sample.py: 500]
+05/15 02:18:36 ERROR: [Worker 0] Worker 0 house 1 episode 9 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/15 02:18:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 02:18:38 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 02:18:38 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 02:18:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:18:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:18:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:18:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:18:38 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 02:18:38 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 02:18:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 02:18:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.035m, effective arm-mount z=0.895m (base_body_z=0.035m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 02:18:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 02:18:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 02:18:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.035349m	[env.py: 870]
+05/15 02:18:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 02:18:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 02:18:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 02:18:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -38.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:18:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -148.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:18:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.03890828 -0.72603598  0.03534863] yaw=-186.7deg	[env.py: 1019]
+05/15 02:18:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 02:18:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -79.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:18:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 77.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:18:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.10083257 -0.59251217  0.03534863] yaw=-154.7deg	[env.py: 1019]
+05/15 02:18:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 02:18:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 02:18:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=206.7ms, total=206.7ms	[env.py: 1075]
+05/15 02:18:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.039, -0.726, 0.035)	[env.py: 1079]
+05/15 02:18:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -186.7 deg	[env.py: 1082]
+05/15 02:18:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.117m	[env.py: 1086]
+05/15 02:18:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:18:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:18:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:18:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:18:38 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 02:18:38 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
+05/15 02:18:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.052s	[base_object_manipulation_planner_policy.py: 377]
+05/15 02:18:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 02:18:38 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:18:38 INFO: [Worker 0] Collision-checked 230 grasps in 0.071s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:18:40 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.851s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 02:18:40 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.759[m] 104.465[deg]	[grasp_sample.py: 539]
+05/15 02:18:40 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 02:18:41 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 02:18:41 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:18:41 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 02:18:41 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 02:18:58 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_307	[pipeline.py: 1174]
+05/15 02:18:58 INFO: [Worker 0] Batching and saving trajectory data for chunk_307 batch 2/3: 1 episodes	[pipeline.py: 238]
+05/15 02:18:58 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 02:19:01 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:19:09 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 02:19:11 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 02:19:11 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_307	[save_utils.py: 785]
+05/15 02:19:11 INFO: [Worker 0] Successfully saved trajectory data for chunk_307 in 13.15s (batch: 4.68s, save: 8.46s)	[pipeline.py: 300]
+05/15 02:19:12 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=0.77s:
+  episode_total: mean=74.75s, total=149.50s, count=2, min=3961.5ms, max=145534.0ms
+  sensor_polling: mean=326.6ms, total=97.99s, count=300, min=283.9ms, max=651.0ms
+  save_trajectories: mean=8.46s, total=8.46s, count=1, min=8463.8ms, max=8463.8ms
+  physics_step: mean=20.4ms, total=6.11s, count=300, min=14.7ms, max=33.8ms
+  save_batch_prep: mean=4.68s, total=4.68s, count=1, min=4683.5ms, max=4683.5ms
+  task_sampling: mean=384.9ms, total=769.9ms, count=2, min=378.0ms, max=391.9ms
+  task_specific_sample: mean=376.8ms, total=753.6ms, count=2, min=369.1ms, max=384.5ms
+  scene_randomize: mean=5.2ms, total=10.3ms, count=2, min=4.7ms, max=5.6ms
+  mj_forward_sync: mean=461.6us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
+  policy_setup: mean=23.1us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 02:19:13 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:19:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 02:19:14 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 02:19:14 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 02:19:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:19:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:19:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:19:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:19:14 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 02:19:14 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 02:19:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 02:19:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.008m, effective arm-mount z=0.852m (base_body_z=-0.008m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 02:19:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 02:19:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 02:19:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.007797m	[env.py: 870]
+05/15 02:19:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 02:19:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 02:19:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 02:19:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -33.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:19:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -53.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:19:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 74.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:19:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 160.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:19:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -32.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:19:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=157.9ms, total=158.0ms	[env.py: 1105]
+05/15 02:19:14 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'Fridge_7_upside_down_root'	[opening_task_samplers.py: 302]
+05/15 02:19:14 ERROR: [Worker 0] Worker 0 house 1 episode 11 task sampling error: Failed to place robot near object: Fridge_7_upside_down_root	[pipeline.py: 1063]
+05/15 02:19:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 02:19:17 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 02:19:17 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 02:19:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:19:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:19:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:19:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:19:17 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 02:19:17 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 02:19:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 02:19:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.064m, effective arm-mount z=0.796m (base_body_z=-0.064m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 02:19:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 02:19:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 02:19:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.063536m	[env.py: 870]
+05/15 02:19:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 02:19:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 02:19:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 02:19:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.52381045  0.03263761 -0.06353644] yaw=-97.1deg	[env.py: 1019]
+05/15 02:19:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 02:19:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 153.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:19:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 83.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:19:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.22382842 -0.17369721 -0.06353644] yaw=-125.2deg	[env.py: 1019]
+05/15 02:19:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 02:19:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.10255202 -0.63457251 -0.06353644] yaw=-167.1deg	[env.py: 1019]
+05/15 02:19:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 02:19:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 02:19:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=83.8ms, total=83.8ms	[env.py: 1075]
+05/15 02:19:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.524, 0.033, -0.064)	[env.py: 1079]
+05/15 02:19:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -97.1 deg	[env.py: 1082]
+05/15 02:19:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.012m	[env.py: 1086]
+05/15 02:19:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:19:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:19:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:19:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:19:17 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 02:19:17 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
+05/15 02:19:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.083s	[base_object_manipulation_planner_policy.py: 377]
+05/15 02:19:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 02:19:17 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:19:17 INFO: [Worker 0] Collision-checked 230 grasps in 0.056s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:19:19 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.161s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 02:19:19 INFO: [Worker 0] Feasible grasp found 224 (originally 109): w/ 0.599[m] 104.250[deg]	[grasp_sample.py: 539]
+05/15 02:19:19 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 02:19:19 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 02:19:19 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:19:20 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 02:19:47 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:19:54 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 02:19:58 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:20:01 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:20:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:20:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:20:07 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 02:20:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:20:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:20:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:20:10 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:20:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:20:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:20:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:20:14 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/15 02:20:14 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/15 02:20:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 02:20:14 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:20:14 INFO: [Worker 0] Collision-checked 230 grasps in 0.059s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:20:16 INFO: [Worker 0] Feasibility-checked 80 grasps in 1.949s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 02:20:16 INFO: [Worker 0] Feasible grasp found 14 (originally 14): w/ 0.044[m] 1.929[deg]	[grasp_sample.py: 539]
+05/15 02:20:17 ERROR: [Worker 0] Worker 0 house 1 episode 14 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/15 02:20:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:20:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 02:20:19 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 02:20:19 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 02:20:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:20:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:20:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:20:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:20:19 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 02:20:19 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 02:20:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 02:20:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.062m, effective arm-mount z=0.798m (base_body_z=-0.062m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 02:20:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 02:20:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 02:20:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.061619m	[env.py: 870]
+05/15 02:20:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 02:20:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 02:20:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 02:20:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -69.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:20:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.53955967 -0.07182759 -0.0616188 ] yaw=-139.5deg	[env.py: 1019]
+05/15 02:20:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 02:20:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 82.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:20:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 173.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:20:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.08959808 -0.17965539 -0.0616188 ] yaw=-122.3deg	[env.py: 1019]
+05/15 02:20:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 02:20:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.25413468 -0.35223353 -0.0616188 ] yaw=-155.2deg	[env.py: 1019]
+05/15 02:20:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 02:20:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 02:20:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=348.1ms, total=348.2ms	[env.py: 1075]
+05/15 02:20:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.540, -0.072, -0.062)	[env.py: 1079]
+05/15 02:20:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -139.5 deg	[env.py: 1082]
+05/15 02:20:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.916m	[env.py: 1086]
+05/15 02:20:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:20:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:20:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:20:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:20:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:20:20 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 02:20:20 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
+05/15 02:20:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.080s	[base_object_manipulation_planner_policy.py: 377]
+05/15 02:20:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 02:20:20 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:20:20 INFO: [Worker 0] Collision-checked 230 grasps in 0.065s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:20:21 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.847s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 02:20:21 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.634[m] 63.846[deg]	[grasp_sample.py: 539]
+05/15 02:20:21 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 02:20:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:20:21 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 02:20:21 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:20:22 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 02:20:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:20:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:20:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:20:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:20:27 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/15 02:20:27 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/15 02:20:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 02:20:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:20:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.077s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:20:29 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.017s, found feasible grasp: False	[grasp_sample.py: 500]
+05/15 02:20:29 ERROR: [Worker 0] Worker 0 house 1 episode 12 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/15 02:20:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 02:20:31 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 02:20:31 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 02:20:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:20:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:20:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:20:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:20:31 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 02:20:31 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 02:20:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 02:20:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.070m, effective arm-mount z=0.790m (base_body_z=-0.070m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 02:20:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 02:20:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 02:20:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.069973m	[env.py: 870]
+05/15 02:20:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 02:20:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 02:20:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 02:20:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 144.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:20:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.01541584 -1.15075158 -0.06997295] yaw=157.3deg	[env.py: 1019]
+05/15 02:20:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 02:20:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 166.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:20:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 77.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:20:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -177.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:20:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.20222363 -1.24825389 -0.06997295] yaw=175.7deg	[env.py: 1019]
+05/15 02:20:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 02:20:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.55053907 -0.15529796 -0.06997295] yaw=-110.2deg	[env.py: 1019]
+05/15 02:20:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 02:20:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 02:20:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=331.3ms, total=331.3ms	[env.py: 1075]
+05/15 02:20:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.015, -1.151, -0.070)	[env.py: 1079]
+05/15 02:20:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 157.3 deg	[env.py: 1082]
+05/15 02:20:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.140m	[env.py: 1086]
+05/15 02:20:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:20:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:20:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:20:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:20:32 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 02:20:32 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
+05/15 02:20:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.050s	[base_object_manipulation_planner_policy.py: 377]
+05/15 02:20:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 02:20:32 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:20:32 INFO: [Worker 0] Collision-checked 230 grasps in 0.053s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:20:34 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.130s, found feasible grasp: False	[grasp_sample.py: 500]
+05/15 02:20:34 ERROR: [Worker 0] Worker 0 house 1 episode 13 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/15 02:20:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 02:20:36 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 02:20:36 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 02:20:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:20:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:20:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:20:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:20:36 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 02:20:36 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 02:20:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 02:20:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.067m, effective arm-mount z=0.793m (base_body_z=-0.067m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 02:20:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 02:20:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 02:20:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.066746m	[env.py: 870]
+05/15 02:20:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 02:20:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 02:20:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 02:20:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 61.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:20:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 100.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:20:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 156.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:20:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.24959629 -0.68713045 -0.0667458 ] yaw=-199.6deg	[env.py: 1019]
+05/15 02:20:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 02:20:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 157.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:20:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.47989463 -0.05787849 -0.0667458 ] yaw=-148.0deg	[env.py: 1019]
+05/15 02:20:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 02:20:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.29605282  0.04508127 -0.0667458 ] yaw=-151.3deg	[env.py: 1019]
+05/15 02:20:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 02:20:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 02:20:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=429.7ms, total=429.8ms	[env.py: 1075]
+05/15 02:20:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.250, -0.687, -0.067)	[env.py: 1079]
+05/15 02:20:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -199.6 deg	[env.py: 1082]
+05/15 02:20:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.835m	[env.py: 1086]
+05/15 02:20:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:20:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:20:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:20:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:20:36 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 02:20:36 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
+05/15 02:20:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s	[base_object_manipulation_planner_policy.py: 377]
+05/15 02:20:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 02:20:36 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:20:36 INFO: [Worker 0] Collision-checked 230 grasps in 0.054s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:20:37 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.585s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 02:20:37 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.517[m] 110.548[deg]	[grasp_sample.py: 539]
+05/15 02:20:37 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 02:20:37 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 02:20:37 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:20:38 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 02:20:42 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 02:20:58 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_307	[pipeline.py: 1174]
+05/15 02:20:58 INFO: [Worker 0] Batching and saving trajectory data for chunk_307 batch 1/3: 1 episodes	[pipeline.py: 238]
+05/15 02:20:58 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 02:21:03 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:21:09 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 02:21:09 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 02:21:09 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_307	[save_utils.py: 785]
+05/15 02:21:09 INFO: [Worker 0] Successfully saved trajectory data for chunk_307 in 11.01s (batch: 2.83s, save: 8.18s)	[pipeline.py: 300]
+05/15 02:21:10 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=0.94s:
+  episode_total: mean=133.90s, total=267.79s, count=2, min=116001.3ms, max=151790.0ms
+  sensor_polling: mean=387.8ms, total=208.61s, count=538, min=288.7ms, max=721.5ms
+  physics_step: mean=21.6ms, total=11.64s, count=538, min=17.1ms, max=52.4ms
+  save_trajectories: mean=8.18s, total=8.18s, count=1, min=8177.9ms, max=8177.9ms
+  save_batch_prep: mean=2.83s, total=2.83s, count=1, min=2834.3ms, max=2834.3ms
+  task_sampling: mean=469.0ms, total=938.0ms, count=2, min=437.7ms, max=500.3ms
+  task_specific_sample: mean=465.1ms, total=930.3ms, count=2, min=434.4ms, max=495.9ms
+  scene_randomize: mean=2.1ms, total=4.3ms, count=2, min=1.4ms, max=2.9ms
+  mj_forward_sync: mean=592.6us, total=1.2ms, count=2, min=0.6ms, max=0.6ms
+  policy_setup: mean=15.2us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 02:21:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 02:21:11 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 02:21:11 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 02:21:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:21:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:21:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:21:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:21:11 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 02:21:11 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 02:21:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 02:21:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.085m, effective arm-mount z=0.945m (base_body_z=0.085m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 02:21:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 02:21:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 02:21:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.085045m	[env.py: 870]
+05/15 02:21:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 02:21:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 02:21:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 02:21:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 141.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:21:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 107.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:21:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 82.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:21:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -150.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:21:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.11654813 -1.14684818  0.08504481] yaw=134.4deg	[env.py: 1019]
+05/15 02:21:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 02:21:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.1133697  -0.69561554  0.08504481] yaw=-193.8deg	[env.py: 1019]
+05/15 02:21:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 02:21:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 02:21:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=415.4ms, total=415.4ms	[env.py: 1075]
+05/15 02:21:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.117, -1.147, 0.085)	[env.py: 1079]
+05/15 02:21:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 134.4 deg	[env.py: 1082]
+05/15 02:21:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.013m	[env.py: 1086]
+05/15 02:21:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:21:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:21:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:21:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:21:11 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 02:21:11 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
+05/15 02:21:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.078s	[base_object_manipulation_planner_policy.py: 377]
+05/15 02:21:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 02:21:11 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:21:12 INFO: [Worker 0] Collision-checked 230 grasps in 0.061s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:21:12 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:21:12 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.813s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 02:21:12 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.887[m] 103.245[deg]	[grasp_sample.py: 539]
+05/15 02:21:12 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 02:21:13 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 02:21:13 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:21:13 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 02:21:19 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:21:27 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 02:21:30 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:21:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:21:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:21:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:21:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:21:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:21:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:21:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:21:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:21:44 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/15 02:21:44 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/15 02:21:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 02:21:44 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:21:45 INFO: [Worker 0] Collision-checked 230 grasps in 0.063s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:21:47 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.051s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 02:21:47 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 2.350[deg]	[grasp_sample.py: 539]
+05/15 02:21:47 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 02:21:47 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 02:21:47 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:21:55 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:22:02 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 02:22:05 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:22:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:22:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:22:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:22:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:22:14 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:22:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:22:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:22:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:22:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:22:19 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/15 02:22:19 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/15 02:22:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 02:22:19 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:22:19 INFO: [Worker 0] Collision-checked 230 grasps in 0.061s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:22:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:22:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:22:21 INFO: [Worker 0] Feasibility-checked 78 grasps in 1.839s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 02:22:21 INFO: [Worker 0] Feasible grasp found 224 (originally 109): w/ 0.121[m] 3.630[deg]	[grasp_sample.py: 539]
+05/15 02:22:21 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 02:22:22 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 02:22:22 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:22:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:22:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:22:25 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
+05/15 02:22:25 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=False episode_total=1.18s:
+  episode_total: mean=114.89s, total=229.79s, count=2, min=104635.4ms, max=125152.9ms
+  sensor_polling: mean=339.8ms, total=181.81s, count=535, min=286.9ms, max=601.3ms
+  physics_step: mean=21.0ms, total=11.24s, count=535, min=13.3ms, max=42.4ms
+  task_sampling: mean=587.9ms, total=1.18s, count=2, min=575.6ms, max=600.1ms
+  task_specific_sample: mean=583.7ms, total=1.17s, count=2, min=572.1ms, max=595.4ms
+  scene_randomize: mean=2.3ms, total=4.6ms, count=2, min=2.2ms, max=2.4ms
+  mj_forward_sync: mean=389.2us, total=0.8ms, count=2, min=0.4ms, max=0.4ms
+  policy_setup: mean=15.8us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 02:22:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:22:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 02:22:26 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 02:22:26 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 02:22:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:22:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:22:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:22:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:22:26 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 02:22:26 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 02:22:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 02:22:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.024m, effective arm-mount z=0.836m (base_body_z=-0.024m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 02:22:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 02:22:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 02:22:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.024346m	[env.py: 870]
+05/15 02:22:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 02:22:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 02:22:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 02:22:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.35485336 -0.46198047 -0.02434635] yaw=-164.5deg	[env.py: 1019]
+05/15 02:22:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 02:22:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.27895829 -1.21135889 -0.02434635] yaw=177.4deg	[env.py: 1019]
+05/15 02:22:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 02:22:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -50.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:22:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 105.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:22:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 83.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:22:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.21117898 -0.00657846 -0.02434635] yaw=-146.8deg	[env.py: 1019]
+05/15 02:22:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 02:22:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 02:22:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=249.9ms, total=249.9ms	[env.py: 1075]
+05/15 02:22:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.355, -0.462, -0.024)	[env.py: 1079]
+05/15 02:22:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -164.5 deg	[env.py: 1082]
+05/15 02:22:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.802m	[env.py: 1086]
+05/15 02:22:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:22:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:22:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:22:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:22:27 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 02:22:27 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
+05/15 02:22:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:22:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.078s	[base_object_manipulation_planner_policy.py: 377]
+05/15 02:22:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 02:22:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:22:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:22:28 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.640s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 02:22:28 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.527[m] 68.666[deg]	[grasp_sample.py: 539]
+05/15 02:22:28 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 02:22:28 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 02:22:28 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:22:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:22:28 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 02:22:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:22:30 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/15 02:22:30 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/15 02:22:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 02:22:30 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:22:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:22:40 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 02:22:42 INFO: [Worker 0] Feasibility-checked 80 grasps in 12.248s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 02:22:42 INFO: [Worker 0] Feasible grasp found 30 (originally 30): w/ 0.054[m] 16.994[deg]	[grasp_sample.py: 539]
+05/15 02:22:42 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 02:22:42 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 02:22:42 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:22:45 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:22:53 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 02:22:57 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:22:57 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_307	[pipeline.py: 1174]
+05/15 02:22:57 INFO: [Worker 0] Batching and saving trajectory data for chunk_307 batch 2/3: 1 episodes	[pipeline.py: 238]
+05/15 02:22:57 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 02:23:06 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:23:10 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 02:23:10 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_307	[save_utils.py: 785]
+05/15 02:23:10 INFO: [Worker 0] Successfully saved trajectory data for chunk_307 in 13.03s (batch: 4.02s, save: 9.01s)	[pipeline.py: 300]
+05/15 02:23:11 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=1.40s:
+  episode_total: mean=57.65s, total=230.61s, count=4, min=170.7ms, max=155060.4ms
+  sensor_polling: mean=351.1ms, total=168.87s, count=481, min=284.9ms, max=752.7ms
+  physics_step: mean=22.3ms, total=10.74s, count=481, min=13.3ms, max=31.9ms
+  save_trajectories: mean=9.01s, total=9.01s, count=1, min=9008.6ms, max=9008.6ms
+  save_batch_prep: mean=4.02s, total=4.02s, count=1, min=4019.4ms, max=4019.4ms
+  task_specific_sample: mean=388.9ms, total=1.56s, count=4, min=164.3ms, max=617.9ms
+  task_sampling: mean=467.5ms, total=1.40s, count=3, min=279.6ms, max=621.6ms
+  task_sampling_failed: mean=170.6ms, total=170.6ms, count=1, min=170.6ms, max=170.6ms
+  scene_randomize: mean=1.8ms, total=7.0ms, count=4, min=1.2ms, max=2.9ms
+  mj_forward_sync: mean=445.9us, total=1.8ms, count=4, min=0.4ms, max=0.5ms
+  policy_setup: mean=18.5us, total=0.1ms, count=3, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 02:23:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 02:23:13 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 02:23:13 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 02:23:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:23:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:23:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:23:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:23:13 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 02:23:13 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 02:23:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 02:23:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.033m, effective arm-mount z=0.893m (base_body_z=0.033m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 02:23:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 02:23:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 02:23:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.032795m	[env.py: 870]
+05/15 02:23:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 02:23:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 02:23:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 02:23:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.23116269 -0.71758188  0.03279547] yaw=-196.4deg	[env.py: 1019]
+05/15 02:23:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 02:23:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -69.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:23:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 121.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:23:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -37.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:23:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.01609246 -1.07294923  0.03279547] yaw=182.0deg	[env.py: 1019]
+05/15 02:23:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 02:23:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.25752973 -1.10167765  0.03279547] yaw=148.1deg	[env.py: 1019]
+05/15 02:23:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 02:23:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 02:23:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=107.9ms, total=108.0ms	[env.py: 1075]
+05/15 02:23:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.231, -0.718, 0.033)	[env.py: 1079]
+05/15 02:23:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -196.4 deg	[env.py: 1082]
+05/15 02:23:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.849m	[env.py: 1086]
+05/15 02:23:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:23:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:23:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:23:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:23:13 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 02:23:13 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
+05/15 02:23:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s	[base_object_manipulation_planner_policy.py: 377]
+05/15 02:23:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 02:23:13 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:23:13 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:23:14 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.722s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 02:23:14 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.613[m] 88.433[deg]	[grasp_sample.py: 539]
+05/15 02:23:14 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 02:23:14 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 02:23:14 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:23:14 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 02:23:18 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:23:23 INFO: [Worker 0] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
+05/15 02:23:23 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=False episode_total=0.63s:
+  episode_total: mean=132.01s, total=132.01s, count=1, min=132006.5ms, max=132006.5ms
+  sensor_polling: mean=335.5ms, total=100.66s, count=300, min=271.7ms, max=469.6ms
+  physics_step: mean=19.1ms, total=5.74s, count=300, min=12.8ms, max=27.6ms
+  task_sampling: mean=634.6ms, total=634.6ms, count=1, min=634.6ms, max=634.6ms
+  task_specific_sample: mean=630.7ms, total=630.7ms, count=1, min=630.7ms, max=630.7ms
+  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
+  mj_forward_sync: mean=404.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=24.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 02:23:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 02:23:24 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 02:23:24 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 02:23:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:23:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:23:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:23:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:23:24 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 02:23:24 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 02:23:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 02:23:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.013m, effective arm-mount z=0.873m (base_body_z=0.013m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 02:23:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 02:23:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 02:23:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.013453m	[env.py: 870]
+05/15 02:23:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 02:23:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 02:23:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 02:23:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.01190625 -0.54322897  0.01345319] yaw=-155.8deg	[env.py: 1019]
+05/15 02:23:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 02:23:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.23933445 -0.83686687  0.01345319] yaw=178.6deg	[env.py: 1019]
+05/15 02:23:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 02:23:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -58.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:23:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.13733563 -0.76439607  0.01345319] yaw=-183.4deg	[env.py: 1019]
+05/15 02:23:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 02:23:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 02:23:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=118.3ms, total=118.3ms	[env.py: 1075]
+05/15 02:23:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.012, -0.543, 0.013)	[env.py: 1079]
+05/15 02:23:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -155.8 deg	[env.py: 1082]
+05/15 02:23:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.120m	[env.py: 1086]
+05/15 02:23:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:23:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:23:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:23:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:23:24 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 02:23:24 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
+05/15 02:23:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s	[base_object_manipulation_planner_policy.py: 377]
+05/15 02:23:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 02:23:24 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:23:25 INFO: [Worker 0] Collision-checked 230 grasps in 0.071s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:23:27 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.972s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 02:23:27 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.754[m] 85.167[deg]	[grasp_sample.py: 539]
+05/15 02:23:27 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 02:23:27 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 02:23:27 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:23:53 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:24:00 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 02:24:03 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:24:33 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:24:33 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 02:24:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:24:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:24:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:24:40 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 02:24:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:24:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:24:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:24:44 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:24:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:24:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:24:46 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/15 02:24:46 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/15 02:24:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 02:24:46 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:24:46 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:24:47 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.572s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 02:24:47 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.494[deg]	[grasp_sample.py: 539]
+05/15 02:24:47 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 02:24:47 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 02:24:47 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:24:50 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:24:53 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_307	[pipeline.py: 1174]
+05/15 02:24:53 INFO: [Worker 0] Batching and saving trajectory data for chunk_307 batch 3/3: 1 episodes	[pipeline.py: 238]
+05/15 02:24:53 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 02:24:57 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 02:25:00 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:25:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:25:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:25:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:25:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:25:10 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 02:25:10 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_307	[save_utils.py: 785]
+05/15 02:25:10 INFO: [Worker 0] Successfully saved trajectory data for chunk_307 in 16.85s (batch: 5.65s, save: 11.20s)	[pipeline.py: 300]
+05/15 02:25:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:25:10 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=0.45s:
+  episode_total: mean=164.07s, total=164.07s, count=1, min=164070.5ms, max=164070.5ms
+  sensor_polling: mean=388.4ms, total=116.53s, count=300, min=291.3ms, max=719.6ms
+  save_trajectories: mean=11.20s, total=11.20s, count=1, min=11204.1ms, max=11204.1ms
+  physics_step: mean=22.4ms, total=6.73s, count=300, min=13.2ms, max=28.4ms
+  save_batch_prep: mean=5.65s, total=5.65s, count=1, min=5648.4ms, max=5648.4ms
+  task_sampling: mean=454.3ms, total=454.3ms, count=1, min=454.3ms, max=454.3ms
+  task_specific_sample: mean=445.2ms, total=445.2ms, count=1, min=445.2ms, max=445.2ms
+  scene_randomize: mean=5.4ms, total=5.4ms, count=1, min=5.4ms, max=5.4ms
+  mj_forward_sync: mean=478.6us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=82.1us, total=0.1ms, count=1, min=0.1ms, max=0.1ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 02:25:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:25:12 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 02:25:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 02:25:12 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 02:25:12 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 02:25:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:25:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:25:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:25:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:25:12 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 02:25:12 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 02:25:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 02:25:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.040m, effective arm-mount z=0.820m (base_body_z=-0.040m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 02:25:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 02:25:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 02:25:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.040045m	[env.py: 870]
+05/15 02:25:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 02:25:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 02:25:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 02:25:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.16213472 -0.22596876 -0.04004493] yaw=-131.9deg	[env.py: 1019]
+05/15 02:25:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 02:25:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.22643092 -1.08162416 -0.04004493] yaw=185.1deg	[env.py: 1019]
+05/15 02:25:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 02:25:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.50361744  0.01863564 -0.04004493] yaw=-128.2deg	[env.py: 1019]
+05/15 02:25:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 02:25:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 02:25:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=111.9ms, total=111.9ms	[env.py: 1075]
+05/15 02:25:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.162, -0.226, -0.040)	[env.py: 1079]
+05/15 02:25:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -131.9 deg	[env.py: 1082]
+05/15 02:25:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.086m	[env.py: 1086]
+05/15 02:25:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:25:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:25:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:25:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:25:12 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 02:25:12 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
+05/15 02:25:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.092s	[base_object_manipulation_planner_policy.py: 377]
+05/15 02:25:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 02:25:12 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:25:12 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:25:15 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.065s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 02:25:15 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.745[m] 114.747[deg]	[grasp_sample.py: 539]
+05/15 02:25:15 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 02:25:15 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 02:25:15 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:25:15 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 02:25:29 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_307	[pipeline.py: 1174]
+05/15 02:25:29 INFO: [Worker 0] Batching and saving trajectory data for chunk_307 batch 2/3: 1 episodes	[pipeline.py: 238]
+05/15 02:25:29 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 02:25:31 INFO: [Worker 0] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 02:25:42 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 02:25:42 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_307	[save_utils.py: 785]
+05/15 02:25:42 INFO: [Worker 0] Successfully saved trajectory data for chunk_307 in 13.79s (batch: 4.45s, save: 9.34s)	[pipeline.py: 300]
+05/15 02:25:43 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=0.31s:
+  episode_total: mean=150.34s, total=150.34s, count=1, min=150341.1ms, max=150341.1ms
+  sensor_polling: mean=320.1ms, total=96.03s, count=300, min=299.0ms, max=791.0ms
+  save_trajectories: mean=9.34s, total=9.34s, count=1, min=9339.2ms, max=9339.2ms
+  physics_step: mean=19.0ms, total=5.69s, count=300, min=13.1ms, max=32.7ms
+  save_batch_prep: mean=4.45s, total=4.45s, count=1, min=4451.7ms, max=4451.7ms
+  task_sampling: mean=311.5ms, total=311.5ms, count=1, min=311.5ms, max=311.5ms
+  task_specific_sample: mean=307.1ms, total=307.1ms, count=1, min=307.1ms, max=307.1ms
+  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
+  mj_forward_sync: mean=496.6us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=17.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 02:25:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 02:25:45 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 02:25:45 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 02:25:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:25:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:25:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:25:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:25:45 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 02:25:45 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 02:25:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 02:25:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.076m, effective arm-mount z=0.784m (base_body_z=-0.076m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 02:25:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 02:25:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 02:25:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.076160m	[env.py: 870]
+05/15 02:25:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 02:25:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 02:25:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 02:25:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 118.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:25:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 134.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:25:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 100.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:25:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.18233766 -1.16888617 -0.07615961] yaw=181.4deg	[env.py: 1019]
+05/15 02:25:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 02:25:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 154.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:25:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.04635952 -0.61213303 -0.07615961] yaw=-189.7deg	[env.py: 1019]
+05/15 02:25:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 02:25:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.05010096 -1.04014124 -0.07615961] yaw=181.6deg	[env.py: 1019]
+05/15 02:25:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 02:25:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 02:25:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=189.2ms, total=189.3ms	[env.py: 1075]
+05/15 02:25:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.182, -1.169, -0.076)	[env.py: 1079]
+05/15 02:25:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 181.4 deg	[env.py: 1082]
+05/15 02:25:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.959m	[env.py: 1086]
+05/15 02:25:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:25:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:25:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:25:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:25:46 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 02:25:46 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
+05/15 02:25:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.091s	[base_object_manipulation_planner_policy.py: 377]
+05/15 02:25:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 02:25:46 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:25:46 INFO: [Worker 0] Collision-checked 230 grasps in 0.060s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:25:47 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.770s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 02:25:47 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.560[m] 82.612[deg]	[grasp_sample.py: 539]
+05/15 02:25:47 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 02:25:47 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 02:25:47 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:25:47 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 02:25:48 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_307	[pipeline.py: 1174]
+05/15 02:25:48 INFO: [Worker 0] Batching and saving trajectory data for chunk_307 batch 1/3: 1 episodes	[pipeline.py: 238]
+05/15 02:25:48 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 02:26:01 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 02:26:01 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_307	[save_utils.py: 785]
+05/15 02:26:01 INFO: [Worker 0] Successfully saved trajectory data for chunk_307 in 13.80s (batch: 3.10s, save: 10.70s)	[pipeline.py: 300]
+05/15 02:26:02 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=0.33s:
+  episode_total: mean=157.82s, total=157.82s, count=1, min=157816.4ms, max=157816.4ms
+  sensor_polling: mean=384.7ms, total=115.41s, count=300, min=292.1ms, max=575.0ms
+  save_trajectories: mean=10.70s, total=10.70s, count=1, min=10699.4ms, max=10699.4ms
+  physics_step: mean=22.2ms, total=6.66s, count=300, min=17.1ms, max=31.6ms
+  save_batch_prep: mean=3.10s, total=3.10s, count=1, min=3096.7ms, max=3096.7ms
+  task_sampling: mean=326.9ms, total=326.9ms, count=1, min=326.9ms, max=326.9ms
+  task_specific_sample: mean=323.6ms, total=323.6ms, count=1, min=323.6ms, max=323.6ms
+  scene_randomize: mean=1.3ms, total=1.3ms, count=1, min=1.3ms, max=1.3ms
+  mj_forward_sync: mean=421.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=10.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 02:26:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 02:26:03 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 02:26:03 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 02:26:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:26:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:26:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:26:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:26:03 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 02:26:03 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 02:26:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 02:26:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.036m, effective arm-mount z=0.824m (base_body_z=-0.036m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 02:26:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 02:26:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 02:26:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.036367m	[env.py: 870]
+05/15 02:26:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 02:26:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 02:26:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 02:26:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -58.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:26:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.209739   -0.44393455 -0.03636666] yaw=-173.2deg	[env.py: 1019]
+05/15 02:26:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 02:26:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 117.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:26:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -78.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:26:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -69.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:26:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 02:26:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=246.7ms, total=246.8ms	[env.py: 1075]
+05/15 02:26:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.210, -0.444, -0.036)	[env.py: 1079]
+05/15 02:26:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -173.2 deg	[env.py: 1082]
+05/15 02:26:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.941m	[env.py: 1086]
+05/15 02:26:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:26:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:26:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:26:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:26:04 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 02:26:04 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
+05/15 02:26:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s	[base_object_manipulation_planner_policy.py: 377]
+05/15 02:26:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 02:26:04 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:26:04 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:26:05 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.743s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 02:26:05 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.629[m] 82.712[deg]	[grasp_sample.py: 539]
+05/15 02:26:05 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 02:26:05 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 02:26:05 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:26:05 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 02:26:15 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:26:23 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 02:26:24 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:26:26 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:26:30 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 02:26:34 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:26:59 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:27:08 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 02:27:12 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:27:15 INFO: [Worker 0] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 02:27:33 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 02:27:35 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_307	[pipeline.py: 1174]
+05/15 02:27:35 INFO: [Worker 0] Batching and saving trajectory data for chunk_307 batch 3/3: 1 episodes	[pipeline.py: 238]
+05/15 02:27:35 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 02:27:49 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 02:27:49 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_307	[save_utils.py: 785]
+05/15 02:27:49 INFO: [Worker 0] Successfully saved trajectory data for chunk_307 in 13.67s (batch: 3.56s, save: 10.11s)	[pipeline.py: 300]
+05/15 02:27:49 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=0.39s:
+  episode_total: mean=157.29s, total=157.29s, count=1, min=157292.2ms, max=157292.2ms
+  sensor_polling: mean=371.0ms, total=111.31s, count=300, min=287.2ms, max=642.5ms
+  save_trajectories: mean=10.11s, total=10.11s, count=1, min=10111.1ms, max=10111.1ms
+  physics_step: mean=21.6ms, total=6.49s, count=300, min=16.9ms, max=61.2ms
+  save_batch_prep: mean=3.56s, total=3.56s, count=1, min=3559.0ms, max=3559.0ms
+  task_sampling: mean=385.7ms, total=385.7ms, count=1, min=385.7ms, max=385.7ms
+  task_specific_sample: mean=381.2ms, total=381.2ms, count=1, min=381.2ms, max=381.2ms
+  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
+  mj_forward_sync: mean=630.8us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=15.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 02:27:50 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_307	[pipeline.py: 1174]
+05/15 02:27:50 INFO: [Worker 0] Batching and saving trajectory data for chunk_307 batch 2/3: 1 episodes	[pipeline.py: 238]
+05/15 02:27:50 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 02:27:51 WARNING: [Worker 0] No trajectory data to save for chunk_307	[pipeline.py: 234]
+05/15 02:27:51 WARNING: [Worker 0] No trajectory data to save for chunk_307	[pipeline.py: 234]
+05/15 02:27:51 INFO: [Worker 0] Worker 0 completed house 1: 9/10 successful episodes	[pipeline.py: 1323]
+05/15 02:27:51 INFO: [Worker 0] [PROFILE] House 1 complete: 9/10 successful, 10 episodes, total_time=3092.23s
+  House averages:
+  episode_total: mean=93.08s, total=1675.41s, count=18, min=2210.1ms, max=166761.9ms
+  sensor_polling: mean=371.4ms, total=1201.35s, count=3235, min=286.9ms, max=719.6ms
+  save_trajectories: mean=9.65s, total=86.82s, count=9, min=8426.7ms, max=11204.1ms
+  physics_step: mean=22.0ms, total=71.04s, count=3235, min=13.2ms, max=61.2ms
+  save_batch_prep: mean=3.42s, total=30.81s, count=9, min=2532.3ms, max=5648.4ms
+  task_sampling: mean=654.6ms, total=11.78s, count=18, min=322.0ms, max=2886.9ms
+  task_specific_sample: mean=517.5ms, total=9.32s, count=18, min=318.9ms, max=817.7ms
+  scene_load: mean=2.39s, total=2.39s, count=1, min=2392.3ms, max=2392.3ms
+  scene_env_create: mean=1.49s, total=1.49s, count=1, min=1494.1ms, max=1494.1ms
+  scene_compile: mean=776.7ms, total=776.7ms, count=1, min=776.7ms, max=776.7ms
+  compile_mujoco: mean=528.0ms, total=528.0ms, count=1, min=528.0ms, max=528.0ms
+  compile_xml_load: mean=179.3ms, total=179.3ms, count=1, min=179.3ms, max=179.3ms
+  scene_init: mean=74.9ms, total=74.9ms, count=1, min=74.9ms, max=74.9ms
+  scene_asset_install: mean=46.2ms, total=46.2ms, count=1, min=46.2ms, max=46.2ms
+  scene_randomize: mean=2.4ms, total=44.0ms, count=18, min=1.0ms, max=8.9ms
+  compile_aux_objects: mean=42.7ms, total=42.7ms, count=1, min=42.7ms, max=42.7ms
+  compile_aux_policy_objects: mean=42.7ms, total=42.7ms, count=1, min=42.7ms, max=42.7ms
+  asset_install_grasps: mean=32.0ms, total=32.0ms, count=1, min=32.0ms, max=32.0ms
+  compile_robot_add: mean=16.7ms, total=16.7ms, count=1, min=16.7ms, max=16.7ms
+  asset_install_objects: mean=11.5ms, total=11.5ms, count=1, min=11.5ms, max=11.5ms
+  mj_forward_sync: mean=474.0us, total=8.5ms, count=18, min=0.4ms, max=1.1ms
+  asset_install_scene: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  policy_setup: mean=24.8us, total=0.4ms, count=18, min=0.0ms, max=0.1ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
+05/15 02:27:51 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
+05/15 02:27:51 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 10 episodes, total_time=3092.23s
+  Worker averages:
+  episode_total: mean=93.08s, total=1675.41s, count=18, min=2210.1ms, max=166761.9ms
+  sensor_polling: mean=371.4ms, total=1201.35s, count=3235, min=286.9ms, max=719.6ms
+  save_trajectories: mean=9.65s, total=86.82s, count=9, min=8426.7ms, max=11204.1ms
+  physics_step: mean=22.0ms, total=71.04s, count=3235, min=13.2ms, max=61.2ms
+  save_batch_prep: mean=3.42s, total=30.81s, count=9, min=2532.3ms, max=5648.4ms
+  task_sampling: mean=654.6ms, total=11.78s, count=18, min=322.0ms, max=2886.9ms
+  task_specific_sample: mean=517.5ms, total=9.32s, count=18, min=318.9ms, max=817.7ms
+  scene_load: mean=2.39s, total=2.39s, count=1, min=2392.3ms, max=2392.3ms
+  scene_env_create: mean=1.49s, total=1.49s, count=1, min=1494.1ms, max=1494.1ms
+  scene_compile: mean=776.7ms, total=776.7ms, count=1, min=776.7ms, max=776.7ms
+  compile_mujoco: mean=528.0ms, total=528.0ms, count=1, min=528.0ms, max=528.0ms
+  compile_xml_load: mean=179.3ms, total=179.3ms, count=1, min=179.3ms, max=179.3ms
+  scene_init: mean=74.9ms, total=74.9ms, count=1, min=74.9ms, max=74.9ms
+  scene_asset_install: mean=46.2ms, total=46.2ms, count=1, min=46.2ms, max=46.2ms
+  scene_randomize: mean=2.4ms, total=44.0ms, count=18, min=1.0ms, max=8.9ms
+  compile_aux_objects: mean=42.7ms, total=42.7ms, count=1, min=42.7ms, max=42.7ms
+  compile_aux_policy_objects: mean=42.7ms, total=42.7ms, count=1, min=42.7ms, max=42.7ms
+  asset_install_grasps: mean=32.0ms, total=32.0ms, count=1, min=32.0ms, max=32.0ms
+  compile_robot_add: mean=16.7ms, total=16.7ms, count=1, min=16.7ms, max=16.7ms
+  asset_install_objects: mean=11.5ms, total=11.5ms, count=1, min=11.5ms, max=11.5ms
+  mj_forward_sync: mean=474.0us, total=8.5ms, count=18, min=0.4ms, max=1.1ms
+  asset_install_scene: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  policy_setup: mean=24.8us, total=0.4ms, count=18, min=0.0ms, max=0.1ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
+05/15 02:27:53 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
+05/15 02:27:53 INFO: Success count: 9, Total count: 10	[pipeline.py: 1491]
+05/15 02:27:53 INFO: Success rate: 90.00%	[pipeline.py: 1492]
+05/15 02:28:03 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 02:28:03 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_307	[save_utils.py: 785]
+05/15 02:28:03 INFO: [Worker 0] Successfully saved trajectory data for chunk_307 in 12.44s (batch: 3.99s, save: 8.45s)	[pipeline.py: 300]
+05/15 02:28:04 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=0.45s:
+  episode_total: mean=138.28s, total=138.28s, count=1, min=138283.6ms, max=138283.6ms
+  sensor_polling: mean=324.7ms, total=97.42s, count=300, min=293.3ms, max=621.8ms
+  save_trajectories: mean=8.45s, total=8.45s, count=1, min=8449.7ms, max=8449.7ms
+  physics_step: mean=20.7ms, total=6.20s, count=300, min=17.2ms, max=32.3ms
+  save_batch_prep: mean=3.99s, total=3.99s, count=1, min=3990.1ms, max=3990.1ms
+  task_sampling: mean=448.2ms, total=448.2ms, count=1, min=448.2ms, max=448.2ms
+  task_specific_sample: mean=444.4ms, total=444.4ms, count=1, min=444.4ms, max=444.4ms
+  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
+  mj_forward_sync: mean=437.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=21.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 02:28:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 02:28:05 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 02:28:05 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 02:28:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:28:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:28:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:28:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:28:05 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 02:28:05 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 02:28:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 02:28:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.060m, effective arm-mount z=0.920m (base_body_z=0.060m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 02:28:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 02:28:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 02:28:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.059935m	[env.py: 870]
+05/15 02:28:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 02:28:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 02:28:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 02:28:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -44.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:28:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 127.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:28:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 110.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:28:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 132.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:28:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 140.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:28:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.14527048 -0.61594974  0.05993483] yaw=-157.7deg	[env.py: 1019]
+05/15 02:28:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 02:28:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.03314704 -0.85348613  0.05993483] yaw=191.8deg	[env.py: 1019]
+05/15 02:28:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 02:28:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 02:28:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=153.0ms, total=153.1ms	[env.py: 1075]
+05/15 02:28:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.145, -0.616, 0.060)	[env.py: 1079]
+05/15 02:28:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -157.7 deg	[env.py: 1082]
+05/15 02:28:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.950m	[env.py: 1086]
+05/15 02:28:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:28:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:28:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:28:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:28:06 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 02:28:06 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
+05/15 02:28:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.079s	[base_object_manipulation_planner_policy.py: 377]
+05/15 02:28:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 02:28:06 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:28:06 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:28:09 INFO: [Worker 0] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 02:28:11 INFO: [Worker 0] Feasibility-checked 88 grasps in 5.129s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 02:28:11 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.755[m] 102.411[deg]	[grasp_sample.py: 539]
+05/15 02:28:12 ERROR: [Worker 0] Worker 0 house 1 episode 17 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/15 02:28:14 WARNING: [Worker 0] No trajectory data to save for chunk_307	[pipeline.py: 234]
+05/15 02:28:14 WARNING: [Worker 0] No trajectory data to save for chunk_307	[pipeline.py: 234]
+05/15 02:28:14 INFO: [Worker 0] Worker 0 completed house 1: 10/11 successful episodes	[pipeline.py: 1323]
+05/15 02:28:14 INFO: [Worker 0] [PROFILE] House 1 complete: 10/11 successful, 11 episodes, total_time=3086.85s
+  House averages:
+  episode_total: mean=93.68s, total=1686.19s, count=18, min=170.7ms, max=159840.3ms
+  sensor_polling: mean=341.5ms, total=1176.07s, count=3444, min=283.9ms, max=791.0ms
+  save_trajectories: mean=9.01s, total=90.11s, count=10, min=8449.5ms, max=10406.7ms
+  physics_step: mean=21.0ms, total=72.46s, count=3444, min=13.1ms, max=51.8ms
+  save_batch_prep: mean=3.95s, total=39.50s, count=10, min=2862.7ms, max=4683.5ms
+  task_sampling: mean=565.5ms, total=9.61s, count=17, min=279.6ms, max=2501.5ms
+  task_specific_sample: mean=420.2ms, total=7.56s, count=18, min=164.3ms, max=628.4ms
+  scene_load: mean=2.14s, total=2.14s, count=1, min=2138.2ms, max=2138.2ms
+  scene_env_create: mean=1.26s, total=1.26s, count=1, min=1262.6ms, max=1262.6ms
+  scene_compile: mean=747.8ms, total=747.8ms, count=1, min=747.8ms, max=747.8ms
+  compile_mujoco: mean=548.5ms, total=548.5ms, count=1, min=548.5ms, max=548.5ms
+  task_sampling_failed: mean=170.6ms, total=170.6ms, count=1, min=170.6ms, max=170.6ms
+  compile_xml_load: mean=140.7ms, total=140.7ms, count=1, min=140.7ms, max=140.7ms
+  scene_init: mean=75.1ms, total=75.1ms, count=1, min=75.1ms, max=75.1ms
+  scene_asset_install: mean=52.4ms, total=52.4ms, count=1, min=52.4ms, max=52.4ms
+  scene_randomize: mean=2.6ms, total=47.4ms, count=18, min=1.2ms, max=5.7ms
+  compile_aux_objects: mean=42.9ms, total=42.9ms, count=1, min=42.9ms, max=42.9ms
+  compile_aux_policy_objects: mean=42.9ms, total=42.9ms, count=1, min=42.9ms, max=42.9ms
+  asset_install_grasps: mean=37.2ms, total=37.2ms, count=1, min=37.2ms, max=37.2ms
+  asset_install_objects: mean=12.2ms, total=12.2ms, count=1, min=12.2ms, max=12.2ms
+  mj_forward_sync: mean=442.7us, total=8.0ms, count=18, min=0.4ms, max=0.5ms
+  compile_robot_add: mean=6.6ms, total=6.6ms, count=1, min=6.6ms, max=6.6ms
+  asset_install_scene: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
+  policy_setup: mean=21.9us, total=0.4ms, count=17, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
+05/15 02:28:14 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
+05/15 02:28:14 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 11 episodes, total_time=3086.85s
+  Worker averages:
+  episode_total: mean=93.68s, total=1686.19s, count=18, min=170.7ms, max=159840.3ms
+  sensor_polling: mean=341.5ms, total=1176.07s, count=3444, min=283.9ms, max=791.0ms
+  save_trajectories: mean=9.01s, total=90.11s, count=10, min=8449.5ms, max=10406.7ms
+  physics_step: mean=21.0ms, total=72.46s, count=3444, min=13.1ms, max=51.8ms
+  save_batch_prep: mean=3.95s, total=39.50s, count=10, min=2862.7ms, max=4683.5ms
+  task_sampling: mean=565.5ms, total=9.61s, count=17, min=279.6ms, max=2501.5ms
+  task_specific_sample: mean=420.2ms, total=7.56s, count=18, min=164.3ms, max=628.4ms
+  scene_load: mean=2.14s, total=2.14s, count=1, min=2138.2ms, max=2138.2ms
+  scene_env_create: mean=1.26s, total=1.26s, count=1, min=1262.6ms, max=1262.6ms
+  scene_compile: mean=747.8ms, total=747.8ms, count=1, min=747.8ms, max=747.8ms
+  compile_mujoco: mean=548.5ms, total=548.5ms, count=1, min=548.5ms, max=548.5ms
+  task_sampling_failed: mean=170.6ms, total=170.6ms, count=1, min=170.6ms, max=170.6ms
+  compile_xml_load: mean=140.7ms, total=140.7ms, count=1, min=140.7ms, max=140.7ms
+  scene_init: mean=75.1ms, total=75.1ms, count=1, min=75.1ms, max=75.1ms
+  scene_asset_install: mean=52.4ms, total=52.4ms, count=1, min=52.4ms, max=52.4ms
+  scene_randomize: mean=2.6ms, total=47.4ms, count=18, min=1.2ms, max=5.7ms
+  compile_aux_objects: mean=42.9ms, total=42.9ms, count=1, min=42.9ms, max=42.9ms
+  compile_aux_policy_objects: mean=42.9ms, total=42.9ms, count=1, min=42.9ms, max=42.9ms
+  asset_install_grasps: mean=37.2ms, total=37.2ms, count=1, min=37.2ms, max=37.2ms
+  asset_install_objects: mean=12.2ms, total=12.2ms, count=1, min=12.2ms, max=12.2ms
+  mj_forward_sync: mean=442.7us, total=8.0ms, count=18, min=0.4ms, max=0.5ms
+  compile_robot_add: mean=6.6ms, total=6.6ms, count=1, min=6.6ms, max=6.6ms
+  asset_install_scene: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
+  policy_setup: mean=21.9us, total=0.4ms, count=17, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
+05/15 02:28:17 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
+05/15 02:28:17 INFO: Success count: 10, Total count: 11	[pipeline.py: 1491]
+05/15 02:28:17 INFO: Success rate: 90.91%	[pipeline.py: 1492]
+05/15 02:28:26 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_307	[pipeline.py: 1174]
+05/15 02:28:26 INFO: [Worker 0] Batching and saving trajectory data for chunk_307 batch 1/3: 1 episodes	[pipeline.py: 238]
+05/15 02:28:26 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 02:28:37 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 02:28:37 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_307	[save_utils.py: 785]
+05/15 02:28:37 INFO: [Worker 0] Successfully saved trajectory data for chunk_307 in 11.12s (batch: 2.78s, save: 8.35s)	[pipeline.py: 300]
+05/15 02:28:37 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=0.46s:
+  episode_total: mean=154.08s, total=154.08s, count=1, min=154079.4ms, max=154079.4ms
+  sensor_polling: mean=384.0ms, total=115.20s, count=300, min=282.3ms, max=665.4ms
+  save_trajectories: mean=8.35s, total=8.35s, count=1, min=8345.7ms, max=8345.7ms
+  physics_step: mean=22.2ms, total=6.66s, count=300, min=17.2ms, max=31.7ms
+  save_batch_prep: mean=2.78s, total=2.78s, count=1, min=2775.9ms, max=2775.9ms
+  task_sampling: mean=455.1ms, total=455.1ms, count=1, min=455.1ms, max=455.1ms
+  task_specific_sample: mean=451.5ms, total=451.5ms, count=1, min=451.5ms, max=451.5ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=576.4us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=14.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 02:28:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 02:28:38 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 02:28:38 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 02:28:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:28:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:28:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:28:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:28:38 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 02:28:38 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 02:28:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 02:28:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.024m, effective arm-mount z=0.836m (base_body_z=-0.024m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 02:28:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 02:28:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 02:28:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.024257m	[env.py: 870]
+05/15 02:28:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 02:28:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 02:28:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 02:28:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 125.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:28:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -48.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:28:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.17025951 -0.57430285 -0.0242567 ] yaw=-163.2deg	[env.py: 1019]
+05/15 02:28:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 02:28:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 130.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:28:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 80.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:28:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 02:28:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=239.0ms, total=239.0ms	[env.py: 1075]
+05/15 02:28:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.170, -0.574, -0.024)	[env.py: 1079]
+05/15 02:28:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -163.2 deg	[env.py: 1082]
+05/15 02:28:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.936m	[env.py: 1086]
+05/15 02:28:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:28:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:28:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:28:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:28:39 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 02:28:39 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
+05/15 02:28:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.091s	[base_object_manipulation_planner_policy.py: 377]
+05/15 02:28:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 02:28:39 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:28:39 INFO: [Worker 0] Collision-checked 230 grasps in 0.054s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:28:40 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.756s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 02:28:40 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.499[m] 80.636[deg]	[grasp_sample.py: 539]
+05/15 02:28:40 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 02:28:40 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 02:28:40 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:28:41 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 02:29:13 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:29:19 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 02:29:22 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:30:36 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 02:30:52 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_307	[pipeline.py: 1174]
+05/15 02:30:52 INFO: [Worker 0] Batching and saving trajectory data for chunk_307 batch 1/3: 1 episodes	[pipeline.py: 238]
+05/15 02:30:52 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 02:31:03 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 02:31:03 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_307	[save_utils.py: 785]
+05/15 02:31:03 INFO: [Worker 0] Successfully saved trajectory data for chunk_307 in 10.92s (batch: 2.76s, save: 8.16s)	[pipeline.py: 300]
+05/15 02:31:04 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=0.46s:
+  episode_total: mean=145.22s, total=145.22s, count=1, min=145217.7ms, max=145217.7ms
+  sensor_polling: mean=323.1ms, total=96.92s, count=300, min=293.4ms, max=682.1ms
+  save_trajectories: mean=8.16s, total=8.16s, count=1, min=8163.2ms, max=8163.2ms
+  physics_step: mean=18.9ms, total=5.68s, count=300, min=13.2ms, max=23.3ms
+  save_batch_prep: mean=2.76s, total=2.76s, count=1, min=2759.1ms, max=2759.1ms
+  task_sampling: mean=464.6ms, total=464.6ms, count=1, min=464.6ms, max=464.6ms
+  task_specific_sample: mean=460.7ms, total=460.7ms, count=1, min=460.7ms, max=460.7ms
+  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
+  mj_forward_sync: mean=397.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=15.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 02:31:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 02:31:05 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 02:31:05 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 02:31:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:31:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:31:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:31:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:31:05 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 02:31:05 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 02:31:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 02:31:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.058m, effective arm-mount z=0.918m (base_body_z=0.058m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 02:31:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 02:31:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 02:31:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.058203m	[env.py: 870]
+05/15 02:31:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 02:31:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 02:31:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 02:31:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.07028474 -1.29523021  0.05820338] yaw=140.1deg	[env.py: 1019]
+05/15 02:31:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 02:31:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -52.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:31:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.31874213 -1.18523784  0.05820338] yaw=152.8deg	[env.py: 1019]
+05/15 02:31:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 02:31:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 120.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:31:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -56.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:31:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.07456252 -0.52426707  0.05820338] yaw=-157.3deg	[env.py: 1019]
+05/15 02:31:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 02:31:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 02:31:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=142.3ms, total=142.3ms	[env.py: 1075]
+05/15 02:31:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.070, -1.295, 0.058)	[env.py: 1079]
+05/15 02:31:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 140.1 deg	[env.py: 1082]
+05/15 02:31:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.113m	[env.py: 1086]
+05/15 02:31:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:31:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:31:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:31:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:31:05 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 02:31:05 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
+05/15 02:31:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.091s	[base_object_manipulation_planner_policy.py: 377]
+05/15 02:31:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 02:31:05 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:31:05 INFO: [Worker 0] Collision-checked 230 grasps in 0.053s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:31:09 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.470s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 02:31:09 INFO: [Worker 0] Feasible grasp found 54 (originally 54): w/ 0.779[m] 82.802[deg]	[grasp_sample.py: 539]
+05/15 02:31:09 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 02:31:09 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 02:31:09 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:31:10 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 02:32:01 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:32:08 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 02:32:11 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:32:53 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 02:33:09 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_307	[pipeline.py: 1174]
+05/15 02:33:09 INFO: [Worker 0] Batching and saving trajectory data for chunk_307 batch 1/3: 1 episodes	[pipeline.py: 238]
+05/15 02:33:09 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 02:33:20 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 02:33:20 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_307	[save_utils.py: 785]
+05/15 02:33:20 INFO: [Worker 0] Successfully saved trajectory data for chunk_307 in 11.34s (batch: 2.98s, save: 8.37s)	[pipeline.py: 300]
+05/15 02:33:21 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=0.36s:
+  episode_total: mean=135.64s, total=135.64s, count=1, min=135639.8ms, max=135639.8ms
+  sensor_polling: mean=320.7ms, total=96.21s, count=300, min=293.3ms, max=647.4ms
+  save_trajectories: mean=8.37s, total=8.37s, count=1, min=8366.9ms, max=8366.9ms
+  physics_step: mean=17.9ms, total=5.38s, count=300, min=13.1ms, max=20.7ms
+  save_batch_prep: mean=2.98s, total=2.98s, count=1, min=2977.2ms, max=2977.2ms
+  task_sampling: mean=357.7ms, total=357.7ms, count=1, min=357.7ms, max=357.7ms
+  task_specific_sample: mean=354.0ms, total=354.0ms, count=1, min=354.0ms, max=354.0ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=416.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=15.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 02:33:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 02:33:22 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 02:33:22 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 02:33:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:33:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:33:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:33:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:33:22 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 02:33:22 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 02:33:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 02:33:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.024m, effective arm-mount z=0.836m (base_body_z=-0.024m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 02:33:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 02:33:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 02:33:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.024154m	[env.py: 870]
+05/15 02:33:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 02:33:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 02:33:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 02:33:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.2971512  -1.04100121 -0.02415413] yaw=136.5deg	[env.py: 1019]
+05/15 02:33:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 02:33:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 119.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:33:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -177.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:33:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 114.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:33:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 165.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:33:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.10898095 -0.71552818 -0.02415413] yaw=-183.4deg	[env.py: 1019]
+05/15 02:33:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 02:33:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 02:33:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=235.7ms, total=235.7ms	[env.py: 1075]
+05/15 02:33:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.297, -1.041, -0.024)	[env.py: 1079]
+05/15 02:33:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 136.5 deg	[env.py: 1082]
+05/15 02:33:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.809m	[env.py: 1086]
+05/15 02:33:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:33:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:33:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:33:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:33:22 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 02:33:22 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
+05/15 02:33:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.096s	[base_object_manipulation_planner_policy.py: 377]
+05/15 02:33:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 02:33:22 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:33:22 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:33:23 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.064s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 02:33:23 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.711[m] 95.392[deg]	[grasp_sample.py: 539]
+05/15 02:33:23 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 02:33:24 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 02:33:24 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:33:24 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 02:34:12 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:34:18 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 02:34:21 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:35:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:35:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:35:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:35:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:35:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:35:32 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 02:35:48 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_307	[pipeline.py: 1174]
+05/15 02:35:48 INFO: [Worker 0] Batching and saving trajectory data for chunk_307 batch 1/3: 1 episodes	[pipeline.py: 238]
+05/15 02:35:48 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 02:36:00 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 02:36:00 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_307	[save_utils.py: 785]
+05/15 02:36:00 INFO: [Worker 0] Successfully saved trajectory data for chunk_307 in 11.20s (batch: 2.76s, save: 8.44s)	[pipeline.py: 300]
+05/15 02:36:00 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=0.44s:
+  episode_total: mean=158.20s, total=158.20s, count=1, min=158199.5ms, max=158199.5ms
+  sensor_polling: mean=321.3ms, total=96.40s, count=300, min=289.6ms, max=628.8ms
+  save_trajectories: mean=8.44s, total=8.44s, count=1, min=8439.4ms, max=8439.4ms
+  physics_step: mean=18.4ms, total=5.53s, count=300, min=13.1ms, max=22.3ms
+  save_batch_prep: mean=2.76s, total=2.76s, count=1, min=2762.6ms, max=2762.6ms
+  task_sampling: mean=437.7ms, total=437.7ms, count=1, min=437.7ms, max=437.7ms
+  task_specific_sample: mean=434.0ms, total=434.0ms, count=1, min=434.0ms, max=434.0ms
+  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
+  mj_forward_sync: mean=407.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=15.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 02:36:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 02:36:01 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 02:36:01 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 02:36:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:36:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:36:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:36:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:36:01 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 02:36:01 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 02:36:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 02:36:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.083m, effective arm-mount z=0.943m (base_body_z=0.083m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 02:36:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 02:36:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 02:36:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.083012m	[env.py: 870]
+05/15 02:36:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 02:36:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 02:36:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 02:36:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.19186957 -0.92802336  0.08301245] yaw=183.8deg	[env.py: 1019]
+05/15 02:36:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 02:36:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 166.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:36:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -57.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:36:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 152.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:36:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.12082582 -0.71735835  0.08301245] yaw=-171.8deg	[env.py: 1019]
+05/15 02:36:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 02:36:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.14205865 -0.46810438  0.08301245] yaw=-164.0deg	[env.py: 1019]
+05/15 02:36:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 02:36:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 02:36:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=182.3ms, total=182.3ms	[env.py: 1075]
+05/15 02:36:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.192, -0.928, 0.083)	[env.py: 1079]
+05/15 02:36:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 183.8 deg	[env.py: 1082]
+05/15 02:36:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.890m	[env.py: 1086]
+05/15 02:36:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:36:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:36:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:36:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:36:01 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 02:36:01 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
+05/15 02:36:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.098s	[base_object_manipulation_planner_policy.py: 377]
+05/15 02:36:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 02:36:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:36:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.054s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:36:02 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.794s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 02:36:02 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.439[m] 101.291[deg]	[grasp_sample.py: 539]
+05/15 02:36:02 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 02:36:03 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 02:36:03 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:36:03 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 02:36:33 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:36:40 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 02:36:43 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:37:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:37:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:37:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:37:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:37:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:37:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:37:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:37:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:37:28 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/15 02:37:28 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/15 02:37:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 02:37:28 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:37:28 INFO: [Worker 0] Collision-checked 230 grasps in 0.059s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:37:28 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.656s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 02:37:28 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.035[m] 0.716[deg]	[grasp_sample.py: 539]
+05/15 02:37:28 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 02:37:29 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 02:37:29 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:37:33 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:37:40 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 02:37:43 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:37:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:37:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:37:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:37:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:38:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:38:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:38:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:38:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:38:04 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/15 02:38:04 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/15 02:38:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 02:38:04 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:38:04 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:38:05 INFO: [Worker 0] Feasibility-checked 76 grasps in 0.630s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 02:38:05 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.032[m] 0.086[deg]	[grasp_sample.py: 539]
+05/15 02:38:06 ERROR: [Worker 0] Worker 0 house 1 episode 17 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/15 02:38:07 WARNING: [Worker 0] No trajectory data to save for chunk_307	[pipeline.py: 234]
+05/15 02:38:07 WARNING: [Worker 0] No trajectory data to save for chunk_307	[pipeline.py: 234]
+05/15 02:38:07 INFO: [Worker 0] Worker 0 completed house 1: 11/12 successful episodes	[pipeline.py: 1323]
+05/15 02:38:07 INFO: [Worker 0] [PROFILE] House 1 complete: 11/12 successful, 12 episodes, total_time=4165.47s
+  House averages:
+  episode_total: mean=127.55s, total=2295.90s, count=18, min=2318.1ms, max=189308.1ms
+  sensor_polling: mean=374.1ms, total=1623.80s, count=4340, min=271.7ms, max=721.5ms
+  save_trajectories: mean=8.87s, total=97.61s, count=11, min=7313.5ms, max=10779.4ms
+  physics_step: mean=21.0ms, total=91.32s, count=4340, min=12.0ms, max=52.4ms
+  save_batch_prep: mean=2.82s, total=30.99s, count=11, min=2573.3ms, max=3096.7ms
+  task_sampling: mean=619.7ms, total=11.15s, count=18, min=326.9ms, max=2998.3ms
+  task_specific_sample: mean=475.2ms, total=8.55s, count=18, min=323.6ms, max=774.7ms
+  scene_load: mean=2.53s, total=2.53s, count=1, min=2533.1ms, max=2533.1ms
+  scene_env_create: mean=1.46s, total=1.46s, count=1, min=1459.4ms, max=1459.4ms
+  scene_compile: mean=958.2ms, total=958.2ms, count=1, min=958.2ms, max=958.2ms
+  compile_mujoco: mean=580.5ms, total=580.5ms, count=1, min=580.5ms, max=580.5ms
+  compile_xml_load: mean=305.8ms, total=305.8ms, count=1, min=305.8ms, max=305.8ms
+  scene_init: mean=76.1ms, total=76.1ms, count=1, min=76.1ms, max=76.1ms
+  compile_aux_objects: mean=42.6ms, total=42.6ms, count=1, min=42.6ms, max=42.6ms
+  compile_aux_policy_objects: mean=42.6ms, total=42.6ms, count=1, min=42.6ms, max=42.6ms
+  scene_asset_install: mean=39.2ms, total=39.2ms, count=1, min=39.2ms, max=39.2ms
+  scene_randomize: mean=2.1ms, total=38.4ms, count=18, min=1.0ms, max=3.5ms
+  asset_install_grasps: mean=27.9ms, total=27.9ms, count=1, min=27.9ms, max=27.9ms
+  compile_robot_add: mean=16.7ms, total=16.7ms, count=1, min=16.7ms, max=16.7ms
+  asset_install_objects: mean=8.5ms, total=8.5ms, count=1, min=8.5ms, max=8.5ms
+  mj_forward_sync: mean=467.9us, total=8.4ms, count=18, min=0.4ms, max=0.6ms
+  asset_install_scene: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  policy_setup: mean=19.3us, total=0.3ms, count=18, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
+05/15 02:38:07 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
+05/15 02:38:07 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 12 episodes, total_time=4165.47s
+  Worker averages:
+  episode_total: mean=127.55s, total=2295.90s, count=18, min=2318.1ms, max=189308.1ms
+  sensor_polling: mean=374.1ms, total=1623.80s, count=4340, min=271.7ms, max=721.5ms
+  save_trajectories: mean=8.87s, total=97.61s, count=11, min=7313.5ms, max=10779.4ms
+  physics_step: mean=21.0ms, total=91.32s, count=4340, min=12.0ms, max=52.4ms
+  save_batch_prep: mean=2.82s, total=30.99s, count=11, min=2573.3ms, max=3096.7ms
+  task_sampling: mean=619.7ms, total=11.15s, count=18, min=326.9ms, max=2998.3ms
+  task_specific_sample: mean=475.2ms, total=8.55s, count=18, min=323.6ms, max=774.7ms
+  scene_load: mean=2.53s, total=2.53s, count=1, min=2533.1ms, max=2533.1ms
+  scene_env_create: mean=1.46s, total=1.46s, count=1, min=1459.4ms, max=1459.4ms
+  scene_compile: mean=958.2ms, total=958.2ms, count=1, min=958.2ms, max=958.2ms
+  compile_mujoco: mean=580.5ms, total=580.5ms, count=1, min=580.5ms, max=580.5ms
+  compile_xml_load: mean=305.8ms, total=305.8ms, count=1, min=305.8ms, max=305.8ms
+  scene_init: mean=76.1ms, total=76.1ms, count=1, min=76.1ms, max=76.1ms
+  compile_aux_objects: mean=42.6ms, total=42.6ms, count=1, min=42.6ms, max=42.6ms
+  compile_aux_policy_objects: mean=42.6ms, total=42.6ms, count=1, min=42.6ms, max=42.6ms
+  scene_asset_install: mean=39.2ms, total=39.2ms, count=1, min=39.2ms, max=39.2ms
+  scene_randomize: mean=2.1ms, total=38.4ms, count=18, min=1.0ms, max=3.5ms
+  asset_install_grasps: mean=27.9ms, total=27.9ms, count=1, min=27.9ms, max=27.9ms
+  compile_robot_add: mean=16.7ms, total=16.7ms, count=1, min=16.7ms, max=16.7ms
+  asset_install_objects: mean=8.5ms, total=8.5ms, count=1, min=8.5ms, max=8.5ms
+  mj_forward_sync: mean=467.9us, total=8.4ms, count=18, min=0.4ms, max=0.6ms
+  asset_install_scene: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  policy_setup: mean=19.3us, total=0.3ms, count=18, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
+05/15 02:38:10 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
+05/15 02:38:10 INFO: Success count: 11, Total count: 12	[pipeline.py: 1491]
+05/15 02:38:10 INFO: Success rate: 91.67%	[pipeline.py: 1492]
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